CN207550356U - Automatic guided vehicle - Google Patents

Abstract

The utility model discloses a kind of automatic guided vehicle, including：Vehicle frame, the first wheel, support element and the first power plant；First wheel is connected with the vehicle frame；The support element is connected with first power plant；First power plant is connected with the vehicle frame, for pushing the support element with the supporting surface of the automatic guided vehicle is supported to abut, to be positioned to the automatic guided vehicle.The automatic guided vehicle of the utility model has the advantages that load capacity is strong, steady positioning.

Description

Automatic guided vehicle

Technical field

The utility model is related to robotic technology field more particularly to a kind of automatic guided vehicles.

Background technology

Since robot is born, machine man-based development has spread machinery, electronics, metallurgy, traffic, aerospace, national defence etc. Field.The level of intelligence of robot is continuously improved in recent years, and rapidly changed people’s lives mode.People are continuous It inquires into, be transformed, during the knowledge of natural environment, the machine that manufacture can substitute people's labour is always the dream of the mankind.It is however, existing During robot localization, by the way that brake block is controlled to abut brake with wheel, thus not only position it is unstable, but also when supporting surface is convex During the surface of recessed injustice, the robot is easier to shake, and stationarity is poor.

Utility model content

The technical issues of the utility model solves is to provide that a kind of load capacity is strong, automatic guided vehicle of steady positioning.

The utility model provides a kind of automatic guided vehicle, is filled including vehicle frame, the first wheel, support element and the first power It puts；First wheel is connected with the vehicle frame；The support element is connected with first power plant；The first power dress It puts and is connected with the vehicle frame, for pushing the support element with the supporting surface of the automatic guided vehicle is supported to abut, with to described Automatic guided vehicle is positioned.

Preferably, the automatic guided vehicle further includes limiting component, and the limiting component is connected with the vehicle frame, and with institute Support element flexible connection is stated, for the support element to be hindered to shake.

Preferably, the support element is provided with the first guide part, and the limiting component is provided with the second guide part；Described One guide part is matched with second guide part, for the support element to be hindered to rotate.

Preferably, the support element includes support column；The support column is detachably connected with first guide part.

Preferably, the support element further includes elastic supporting seat, and the elastic supporting seat is arranged with the support column bottom It is connected.

Preferably, the support column includes the first cylinder, connection ring and the second cylinder, the cross section face of second cylinder Product is more than the first cylinder cross-sectional area；The first end of first cylinder is connected with first power plant, described The second end of first cylinder is connected with the inner peripheral surface of the connection ring, and the first end of second cylinder is outer with the connection ring Circumferential surface is connected, and the first end of the elastic supporting seat is plugged in second cylinder and is abutted against with the connection ring；It is described The second end of elastic supporting seat is located at outside second cylinder.

Preferably, the limiting component is connected with the support element to be arranged.

Preferably, first power plant includes hydraulic cylinder, and the hydraulic cylinder is fixed on the vehicle frame, and with it is described Support element is connected.

Preferably, the automatic guided vehicle further includes hydraulic pressure source device, and the hydraulic pressure source device is arranged on the vehicle frame, And connection is connected with the hydraulic cylinder.

Preferably, the automatic guided vehicle further includes the second power plant of at least two, and the quantity of first wheel is extremely 2 few, second power plant is fixed on the vehicle frame, and is connected one to one with first wheel.

In conclusion the automatic guided vehicle of the utility model includes vehicle frame, the first wheel, support element and the first power Device；First wheel drives the automatic guided vehicle to move to the working region specified, and first power plant pushes The support element is with supporting the supporting surface of the automatic guided vehicle to abut, after the support element is abutted against with the supporting surface, institute It states the first power plant and continues to press on the support element, so that the support element is in close contact with the supporting surface；It is described automatic When guiding vehicle needs mobile, first power plant drives the support element slowly to withdraw.Since the support element is described Automatic guided vehicle provides additional support force, therefore the automatic guided vehicle is strong, steady positioning with workload ability Advantage.

Description of the drawings

Fig. 1 is the structure diagram of the preferred embodiment part-structure of the utility model automatic guided vehicle.

Fig. 2 is the exploded view of the first power plant of the utility model automatic guided vehicle, limiting component and support element.

Fig. 3 is the sectional view of the preferred embodiment of the support column of the utility model automatic guided vehicle.

Fig. 4 is the structure diagram for the preferred embodiment that the utility model automatic guided vehicle is applied when in robot.

Fig. 5 is the structure diagram that Fig. 4 robot bodies are detached with shell.

Fig. 6 is the structure diagram of the robot body of Fig. 4.

Fig. 7 is structure diagram of the robot body of Fig. 6 under another visual angle.

Fig. 8 is the enlarged diagram of a-quadrant in Fig. 7.

Fig. 9 is the structure diagram for the preferred embodiment that the utility model takes discharging device.

Specific embodiment

The utility model is described in detail with reference to the accompanying drawings and examples.If it should be noted that do not conflict, Each feature in the utility model embodiment and embodiment can be combined with each other, the scope of protection of the utility model it It is interior.

It please referring to Fig.1 to Fig.3, the utility model provides a kind of automatic guided vehicle 100, including：Vehicle frame 110, first Wheel 120, support element 130, the first power plant 140 and the second power plant 121；First wheel 120 and the vehicle frame 110 are connected.In the present embodiment, the quantity of first wheel 120 is 2, and 2 first wheels 120 are located at the vehicle The opposite both sides of 110 medium position of frame.The quantity of second power plant 121 is also 2,2 second power plants 121 are each attached on the vehicle frame 110, and connect one to one with first wheel 120.Pass through 2 first wheels 120 speed sync movement can realize the straight line moving of the automatic guided vehicle 100, and differential can realize the homing guidance It the turning of vehicle 100 and rotates in place.

It is understood that second power plant 121 and the quantity of first wheel 120 do not limit specifically herein It is fixed.It is more stable and reliable for the ease of controlling and moving, in practice, second power plant 121 and first vehicle The quantity of wheel 120 is at least 2.

Preferably, the automatic guided vehicle 100 further includes several the second wheels 122, and second wheel 122 is universal Driven wheel.In the present embodiment, 122 quantity of the second wheel is 4, is distributed in 110 4 jiaos of the vehicle frame.By setting State the second wheel 122 so that the automatic guided vehicle 100 runs more steady, flexible.

Preferably, the automatic guided vehicle 100 further includes limiting component 150, the limiting component 150 and the vehicle frame 110 are connected.The support element 130 is connected with first power plant 140, and positioned at the bottom of the vehicle frame 110；In this reality Support element 130 described in example is applied by support element fixing bolt 130a with first power plant 140 to be connected, it is possible to understand that It is that the support element 130 and the connection mode of first power plant 140 are not specifically limited herein；The first power dress It puts 140 with the vehicle frame 110 to be connected, for pushing the support element 130 and the supporting surface along the support automatic guided vehicle 100 It abuts, to be supported positioning to the automatic guided vehicle 100.After the automatic guided vehicle 100 moves in place, by described One power plant 140 pushes the support element 130 to be abutted against with the supporting surface, supports and positions the automatic guided vehicle 100.

Preferably, the support element 130 is provided with the first guide part 131, and the limiting component 150 is provided with the second guiding Part 151；First guide part 131 is matched with second guide part 151, for the support element 130 to be hindered to rotate. In the present embodiment, first guide part 131 is flat key, and second guide part 151 is the keyway coordinated with the flat key； In other embodiments, first guide part 131 can also be spline, and second guide part 151 is and the spline fitted Keyway.

On the one hand, first guide part 131 can be to avoid the support element with the cooperation of second guide part 151 The rotation of the support element 130, leads to the support element fixing bolt 130a loose or dislocations during 130 release.

On the other hand, the cooperation of first guide part 131 and second guide part 151 can also avoid the support The rotation of part 130, when causing the support element 130 to be contacted with the supporting surface, the support element 130 deviates, and influences the branch The locating effect of support member 130.

Preferably, the support element 130 includes support column 132；The support column 132 can with first guide part 131 Dismantling connection.In the present embodiment, first guide part 131 is bolted on the support column 132.Due to described Support column 132 is detachably connected with first guide part 131 so that the support column 132 and first guide part 131 are made Make convenience, easy to repair and replacement.

Preferably, the support element 130 further includes elastic supporting seat 133, the elastic supporting seat 133 and the support column 132 bottoms are arranged connected.The elastic supporting seat 133 can be buffered and be hit with the supporting surface when support element 130 is released It hits.The elastic supporting seat 133 can be rubber column or silicagel column or polyurethane column, be not specifically limited herein.

Preferably, the support column 132 includes the first cylinder 134,135 and second cylinder 136 of connection ring, second column The cross-sectional area of body 136 is more than 134 cross-sectional area of the first cylinder, therefore increases the supporting surface of the support column 132 Product；The first end of first cylinder 134 is connected with first power plant 140, the second end of first cylinder 134 with The inner peripheral surface of the connection ring 135 is connected, and the first end of second cylinder 136 is connected with the peripheral surface of the connection ring 135, The first end of the elastic supporting seat 133 is plugged in second cylinder 136 and is abutted against with the connection ring 135；It is described The second end of elastic supporting seat 133 is located at outside second cylinder 136.

Preferably, first cylinder 134 is less than the hollow cylinder of both ends internal diameter, first cylinder for middle part internal diameter Hooking ring 137 is provided in 134；The push-off pin 138 of first power plant 140 is plugged in first cylinder 134；Institute State support element fixing bolt 130a be plugged in first cylinder 134 and with the push-off pin 138 and first cylinder 134 It is connected, specifically, the support element fixing bolt 130a and 137 snapping of hooking ring.

The limiting component 150 is flexibly connected with the support element 130, for the support element 130 to be hindered to shake, to carry For the environment of 300 smooth working of manipulator.Preferably, the limiting component 150 is to be arranged phase with the support element 130 Even.In the present embodiment, the limiting component 150 can be set in 130 peripheral surface of support element sleeve or Set on two pieces of limiting plates of 130 peripheral surface of support element, the position of two pieces of limiting plates is opposite, does not limit specifically herein It is fixed.

Preferably, first power plant 140 includes hydraulic cylinder 139, and the hydraulic cylinder 139 is fixed on the vehicle frame On 110, and it is connected with the support element 130.Deceleration device can be removed from, and without drive gap, movement using hydraulic cylinder 139 Steadily.First power plant 140 can also be electric cylinder or cylinder, be not specifically limited herein.

Preferably, the automatic guided vehicle 100 further includes hydraulic pressure source device 160, and the hydraulic pressure source device 160 is arranged on institute It states on vehicle frame 110, and is connected and connects with the hydraulic cylinder 139, pressure energy is provided for the hydraulic cylinder 139.In the present embodiment, The hydraulic pressure source device 160 can provide flow direction, pressure and flux controllable hydraulic power source, the support element 130 to be driven to release Or it retracts.The support element 130 and the hydraulic cylinder 139 are 4, and the support element 130 is corresponded with the hydraulic cylinder 139 Connection；The hydraulic cylinder 139 and the support element 130 are distributed in 110 4 jiaos of the vehicle frame.

Maximum supporting surface can be obtained by being set to the support element 130 of 110 4 jiaos of the vehicle frame.In the present embodiment In, the hydraulic pressure source device 160 provides the pressure energy of preset pressure value for 4 hydraulic cylinders 139；When needing positioning, institute It states hydraulic pressure source device 160 and provides release pressure energy for the hydraulic cylinder 139, the hydraulic cylinder 139 releases the push-off pin 138； Since when the elastic supporting seat 133 and the supporting surface offset, pressure is gradually risen until reaching in the hydraulic cylinder 139 To preset pressure value, the hydraulic cylinder 139 stops releasing the push-off pin 138.The push-off pin 138 only with the supporting surface It can just stop releasing after contact, when reaching preset pressure value, therefore, no matter the automatic guided vehicle 100 is in flat supporting surface Or when being positioned on uneven supporting surface, the automatic guided vehicle 100 can automatically adjust posture, keep the homing guidance The horizontal attitude of vehicle 100.

Fig. 4 and Fig. 5 is please referred to, the utility model additionally provides a kind of robot, including manipulator 300 and for driving The automatic guided vehicle 100 that the manipulator 300 moves, wherein, the automatic guided vehicle 100 is automatic guided vehicle described above 100.Realize the manipulator 300 along the supporting surface fortune for supporting the automatic guided vehicle 100 by the automatic guided vehicle 100 It is dynamic.In the present embodiment, the automatic guided vehicle 100, the elevating mechanism 200 and manipulator 300 form robot body.

Preferably, the robot further includes elevating mechanism 200 and shell 400；The elevating mechanism 200 with it is described automatic It guides vehicle 100 to be connected, the manipulator 300 is connected with the elevating mechanism 200；The automatic guided vehicle 100 is used to drive institute Manipulator 300 is stated along the supporting surface of the automatic guided vehicle 100 is supported to move, the elevating mechanism 200 is used to drive the machine Tool hand 300 moves up and down.The manipulator 300 is driven to move by the automatic guided vehicle 100 and the elevating mechanism 200, The working range of the manipulator 300 can be expanded, the robot can be used for the inspection and maintenance of server, can be used for The sorting and carrying of logistics system, purposes are not specifically limited herein；The shell 400 is located at the automatic guided vehicle 100 and the elevating mechanism 200 outside, polluted to avoid the automatic guided vehicle 100 and the elevating mechanism 200 by dust.

Referring to Fig. 6, the elevating mechanism 200 includes fixed frame 210, the first guide rail 220, the second guide rail 230, adjustable shelf 240 and driving device 250；The fixed frame 210 is connected with the automatic guided vehicle 100, first guide rail 220 and described Two guide rails 230 are set to parallel on the fixed frame 210, in the present embodiment, first guide rail 220 and second guide rail 230 are vertically arranged at parallel on the fixed frame 210；The adjustable shelf 240 and first guide rail 220 and second guide rail 230 flexible connections, the manipulator 300 are connected with the adjustable shelf 240, the driving device 250 and 240 phase of adjustable shelf Even, for driving the adjustable shelf 240 along first guide rail 220 and the guiding movement of second guide rail 230, to realize State the up and down motion of manipulator 300.

In the present embodiment, control device 211 and wireless communication module 212 are fixed on the fixed frame 210；The control Device 211 and the wireless communication module 212 processed are set on the fixed frame 210, the control device 211 with it is described automatic Guiding vehicle 100, the elevating mechanism 200 and the manipulator 300 are electrically connected；For controlling the automatic guided vehicle 100, described The movement of elevating mechanism 200 and the manipulator 300；The wireless communication module 212 is electrically connected with the control device 211, For control centre's communication with controlling the robot work, transmission of control signals.

Preferably, the adjustable shelf 240 includes riser 241, loading plate 242, floor 243 and several slide units 244, described One end of slide unit 244 is flexibly connected with first guide rail 220 or second guide rail 230, the other end of the slide unit 244 with The riser 241 is connected, and the portrait is arranged in parallel with first guide rail 220 and second guide rail 230；The loading plate 242 are vertically installed in 241 lower edge of riser, and the manipulator 300 is set on the loading plate 242；The floor 243 It is connected with the portrait and the loading plate 242, for strengthening the structural strength of the adjustable shelf 240.

Preferably, the slide unit 244 include the first slide unit 245 and the second slide unit 246, first slide unit 245 with it is described Second slide unit 246 is arranged at intervals, and first slide unit 245 is set to the upper end of the riser 241, second slide unit 246 The lower end of the portrait is set to, to enhance the bearing capacity of the loading plate 242.

Please refer to Fig. 7 and Fig. 8, the driving device 250 includes driving motor 251, leading screw 252, link block 253 and dust-proof Baffle 254；The driving motor 251 is connected with the leading screw 252；The first end of the link block 253 and the leading screw 252 Flexible connection, the second end of the link block 253 are connected with the adjustable shelf 240；The link block 253 is provided with holding tank 255, institute's dust-proof guard 254 is across the holding tank 255 and is set to the leading screw 252 and the adjustable shelf 240, in order to avoid The leading screw 252 is contaminated, influences the lifting precision of the elevating mechanism 200.In the present embodiment, the driving motor 251 It is connect with the screw drive of the leading screw 252, the first end of the link block 253 is connected with the nut of the leading screw 252, with reality The rotary motion of the existing driving motor 251 is converted into the straight line elevating movement of the adjustable shelf 240.

Fig. 6 and Fig. 9 is please referred to, the manipulator 300 includes mechanical arm 310 and takes discharging device 320, the manipulator The first end of arm 310 is connected with the adjustable shelf 240, and the second end of the mechanical arm 310 takes 320 phase of discharging device with described Even；It is described that discharging device 320 is taken to include the first linking arm 321, the second linking arm 322, third linking arm 323, identification component 324th, by hit component 325 and pick and place material component 326；The first end of first linking arm 321 and second linking arm 322 First end and the first end of the third linking arm 323 are connected；The second end of first linking arm 321 and the identification component 324 are connected, and the second end of second linking arm 322 is connected with described by hitting component 325, and the of the third linking arm 323 Two ends are connected with the material component 326 that picks and places；The identification component 324 is used to identifying position and the state of material, described by hitting Component 325 is used to releasing or establishing the constraint to the material, and the material component 326 that picks and places is used to release or establish to described The material is gripped during the constraint of material.

In conclusion the automatic guided vehicle 100 of the utility model includes vehicle frame 110, the first wheel 120, support element 130 and first power plant 140；First wheel 120 drives the automatic guided vehicle 100 to move to the workspace specified Domain, first power plant 140 push the support element 130 with the supporting surface of the automatic guided vehicle 100 is supported to abut, institute It states after support element 130 and the supporting surface abut against, first power plant 140 continues to press on the support element 130, so that The support element 130 is in close contact with the supporting surface；When the automatic guided vehicle 100 needs mobile, the first power dress The 140 drivings support element 130 is put slowly to withdraw.Since the support element 130 is that the automatic guided vehicle 100 provides additionally Support force, therefore the automatic guided vehicle 100 has the advantages that workload ability is strong, steady positioning.

Automatic guided vehicle provided by the utility model is described in detail above, specific case used herein The principle and embodiment of the utility model is expounded, the explanation of above example is only intended to help to understand this practicality Novel method and its core concept；Meanwhile for those of ordinary skill in the art, according to the thought of the utility model, There will be changes in specific embodiment and application range, in conclusion the content of the present specification is only the utility model Embodiment, it does not limit the scope of the patent of the present invention, every to utilize the utility model specification and accompanying drawing content The equivalent structure or equivalent flow shift made directly or indirectly is used in other related technical areas, similarly includes In the scope of patent protection of the utility model.It should not be construed as a limitation of the present invention.

Claims (10)

1. a kind of automatic guided vehicle, it is characterised in that：Including vehicle frame, the first wheel, support element and the first power plant；Described One wheel is connected with the vehicle frame；The support element is connected with first power plant；First power plant with it is described Vehicle frame is connected, for pushing the support element with the supporting surface of the automatic guided vehicle is supported to abut, with to the homing guidance Vehicle is positioned.

2. automatic guided vehicle according to claim 1, it is characterised in that：The automatic guided vehicle further includes limiting component, The limiting component is connected with the vehicle frame, and is flexibly connected with the support element, for the support element to be hindered to shake.

3. automatic guided vehicle according to claim 2, it is characterised in that：The support element is provided with the first guide part, institute It states limiting component and is provided with the second guide part；First guide part is matched with second guide part, described for hindering Support element rotates.

4. automatic guided vehicle according to claim 3, it is characterised in that：The support element includes support column；The support Column is detachably connected with first guide part.

5. automatic guided vehicle according to claim 4, it is characterised in that：The support element further includes elastic supporting seat, institute It states elastic supporting seat and is arranged with the support column bottom and is connected.

6. automatic guided vehicle according to claim 5, it is characterised in that：The support column includes the first cylinder, connection ring And second cylinder, the cross-sectional area of second cylinder are more than the first cylinder cross-sectional area；First cylinder First end is connected with first power plant, and the second end of first cylinder is connected with the inner peripheral surface of the connection ring, institute The first end for stating the second cylinder is connected with the peripheral surface of the connection ring, and the first end of the elastic supporting seat is plugged in described It is abutted against in two cylinders and with the connection ring；The second end of the elastic supporting seat is located at outside second cylinder.

7. according to claim 2 to 6 any one of them automatic guided vehicle, it is characterised in that：The limiting component and the branch Support member is connected to be arranged.

8. automatic guided vehicle according to any one of claims 1 to 6, it is characterised in that：First power plant includes Hydraulic cylinder, the hydraulic cylinder are fixed on the vehicle frame, and are connected with the support element.

9. automatic guided vehicle according to claim 8, it is characterised in that：The automatic guided vehicle further includes hydraulic power source dress It puts, the hydraulic pressure source device is arranged on the vehicle frame, and connection is connected with the hydraulic cylinder.

10. automatic guided vehicle according to any one of claims 1 to 6, it is characterised in that：The automatic guided vehicle further includes The second power plant of at least two, the quantity of first wheel is at least two, and second power plant is fixed on the vehicle On frame, and connect one to one with first wheel.