CN208149479U

CN208149479U - Automatic guiding vehicle

Info

Publication number: CN208149479U
Application number: CN201721843084.0U
Authority: CN
Inventors: 李娜; 刘强; 吴长武; 王国平; 毕琳; 张炜; 张旭君; 田钊; 王得刚
Original assignee: Capital Engineering & Research Inc Ltd
Current assignee: Capital Engineering & Research Inc Ltd
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2018-11-27
Anticipated expiration: 2027-12-26

Abstract

The utility model provides an automatic guide car, include: mechanical system, driving system and control system. The mechanical system comprises: the device comprises a vehicle body, a steering device and at least one wheel set. The wheel sets are used for supporting the vehicle body, each wheel set comprises a plurality of wheels, and the wheels receive steering power through gear transmission to realize synchronous equidirectional rotation. The power system comprises: the steering driving device is used for providing steering power; the walking driving device is used for driving a driving wheel in the wheel set to walk; a power supply device. The control system includes: the steering control device is used for outputting a steering signal to the steering driving device according to the steering signal; the walking control device is used for outputting a walking signal to the walking driving device; a telecommunications device for identifying an obstacle; and the safety control device outputs an avoidance signal to the steering driving device and/or the walking driving device according to the barrier information. The utility model discloses an automatic guide car operates steadily smoothly, is suitable for the large-tonnage container of remote handling.

Description

Automatic guiding vehicle

Technical Field

The utility model relates to an automatic technical field especially relates to an automatic guide car.

Background

With the improvement of automation degree, the automatic guided vehicle is used as a carrying robot, and gradually replaces the logistics modes such as a chain conveyor, a belt conveyor, a suspension conveyor and the like in modern production logistics. The automatic guided vehicle has the advantages of high efficiency, high intelligence degree and the like, but in view of the current development situation, the technical update still needs to be excavated in a plurality of application fields, and particularly the automatic guided vehicle which can meet the special production needs is yet to be developed.

Bulk cargo storage and transportation processes are widely used in industries such as power plants, building materials, mines, ports, metallurgy and the like, but major production equipment of the processes in the market is a stacker-reclaimer and a belt conveyor. If the production efficiency is to be improved and the environmental protection requirement of the whole transportation process is to be ensured, a special automatic guide vehicle which can be suitable for bulk material transportation and loading and unloading processes is needed to meet the requirements of the bulk material storage and transportation processes.

The current carrying type automatic guided vehicle is an omnidirectional automatic guided vehicle (chinese utility model patent application No. 201520670030.3), which mainly uses mecanum wheels and its electric control system to realize omnidirectional running, but the carrying capacity of the automatic guided vehicle is low, and it is difficult to use the vehicle for carrying large-tonnage containers. In addition, a carrying system and a carrying robot (Chinese patent application No. 201510181630.8) are provided, which mainly use a mechanical arm and an electric control system thereof to carry, but the carrying robot is suitable for short-distance carrying of light and small parts and is difficult to be used for carrying of long-distance containers.

SUMMERY OF THE UTILITY MODEL

The utility model provides an automatic guide car to satisfy the bulk cargo container transport demand that is applicable to bulk cargo warehousing and transportation technology.

The utility model provides an automatic guide car, include: a mechanical system, a power system and a control system; wherein the mechanical system comprises: the vehicle body is used for bearing the container; a steering device for transmitting steering power; the vehicle comprises a vehicle body, at least one wheel set and a plurality of wheels, wherein the vehicle body is supported by the at least one wheel set; the power system comprises: a steering drive device for supplying the steering power to the steering device; the walking driving device is used for driving a driving wheel in the wheel set to walk; and a power supply device for supplying power; the control system includes: the steering control device is used for outputting a steering signal to the steering driving device according to the destination and/or the traveling path information; the walking control device is used for outputting a walking signal to the walking driving device according to the destination and/or the traveling path information; the telecommunication device is used for identifying obstacles around the automatic guided vehicle and outputting obstacle information; and the safety control device outputs an avoidance signal to the steering driving device and/or the walking driving device according to the obstacle information.

In one embodiment, a portion of the outer surface of the body is configured as a bulk material chute slope.

In one embodiment, the plurality of wheels are arranged in extreme positions around the same lower shaft gear in the steering device.

In one embodiment, the steering apparatus includes: an upper shaft gear set, a transmission shaft set and a lower shaft gear set; the first transmission shaft in the transmission shaft group is used for receiving the steering power and transmitting the steering power to a first upper shaft gear in the upper shaft gear group, the first upper shaft gear is used for transmitting the steering power to at least one second upper shaft gear in the upper shaft gear group, the at least one second upper shaft gear is used for transmitting the steering power to at least one second transmission shaft in the transmission shaft group, and at least part of the at least one second transmission shaft is used for transmitting the steering power to the corresponding wheel group.

In one embodiment, the steering drive device includes: a steering motor; the steering motor comprises a main power steering motor and a power-assisted steering motor; the main force steering motor is used for providing main force driving force to the first transmission shaft; the power-assisted steering motor is used for providing power-assisted driving force to the rest transmission shafts when sensing the rotation of the rest transmission shafts in the at least one second transmission shaft so as to accelerate the rotation of the rest transmission shafts; the steering power includes the main-force driving force and the assist-force driving force.

In one embodiment, the wheel set comprises four wheels, two of which are driving wheels and the other two of which are driven wheels; the walking driving device is positioned between the two parallel driving wheels and is used for coaxially driving the two driving wheels to walk; the different wheel sets correspond to different walking driving devices, and the turning and turning actions of the vehicle body are realized through the walking differential speed between the wheel sets.

In one embodiment, the telecommunication device is further used for identifying the unloading area and the unloading environment and outputting unloading environment information; the control system further comprises: the unloading environment-friendly control device is used for outputting an unloading/resetting signal according to the unloading environment information; the mechanical system further comprises: the unloading environment-friendly device is used for sleeving and attaching the automatic guided vehicle body when the automatic guided vehicle is in a carrying state, and forming a closed unloading channel by matching with the unloading side of the vehicle body when the automatic guided vehicle is in an unloading state; the power system further comprises: and the unloading environment-friendly driving device is used for providing driving power for state conversion between the sleeving and attaching vehicle body and the closed unloading channel according to the unloading/resetting signal.

In one embodiment, the environmentally friendly discharge apparatus comprises: a closure cap and a push rod; the closed cover is sleeved and attached to the car body from the opposite side and two sides of the discharge side of the car body; when the automatic guided vehicle is in a discharging state, the push rod is used for pushing the sealing cover away from the discharging side, so that the sealing cover is matched with the discharging side to form the sealing discharging channel, and when the automatic guided vehicle finishes discharging, the push rod is used for pulling back the sealing cover.

In one embodiment, the telecommunications apparatus comprises: the visual recognition device and the radar monitoring device are used for recognizing obstacles, unloading areas and environments.

In one embodiment, the telecommunications apparatus further comprises: weighing instrument, multi-machine interaction and multi-machine cooperation; the weighing instrument is used for weighing the weight of the container and outputting weighing data; the multi-machine interaction is used for sending the weighing data and the serial number information of the automatic guided vehicle to the container; the multiple machines are used for receiving and sending commands in cooperation with surrounding devices including the container, the receiving groove automatic door and the crane.

According to the automatic guided vehicle provided by the embodiment of the utility model, the wheels in the wheel set can realize the synchronization of all the wheels in the wheel set through gear transmission, so that the automatic guided vehicle can run stably and smoothly, and is suitable for remote carrying of large-tonnage containers; the omnidirectional automatic guided vehicle is realized through the steering driving device and the steering control device; the container can be better borne through the vehicle body which is designed in a targeted manner; the automatic guided vehicle can be prevented from colliding with the barrier to cause mechanical damage through the safety control device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:

fig. 1 is a schematic front view of an automatic guided vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional D-D view of the automated guided vehicle of FIG. 1;

fig. 3a is an exploded schematic view of a container positioning device, a bearing, an upper shaft gear, a transmission shaft, a lower shaft gear, a driving wheel, a driven wheel, a main power steering drive, a walking drive, a battery pack and a charging device of the body of the automatic guided vehicle shown in fig. 2;

FIG. 3b is an exploded view of the container positioning device, control system, body and safety device of the automated guided vehicle of FIG. 2;

FIG. 3c is an exploded view of the environmentally friendly discharge enclosure, the environmentally friendly discharge push rod and the telecommunications device of the automated guided vehicle of FIG. 2;

FIG. 4 is a schematic cross-sectional view A-A of the automated guided vehicle of FIG. 1;

FIG. 5 is a schematic cross-sectional view B-B of the automated guided vehicle of FIG. 1;

FIG. 6a is a schematic cross-sectional view C-C of the automated guided vehicle of FIG. 1 traveling laterally;

FIG. 6b is a schematic cross-sectional view C-C of the automated guided vehicle of FIG. 1 traveling in a longitudinal direction;

fig. 6C is a schematic cross-sectional view of the automated guided vehicle of fig. 1 taken in any direction through C-C.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

An embodiment of the utility model provides an automatic guide car. The automatic guided vehicle may include: mechanical system, driving system and control system.

The mechanical system may include: the device comprises a vehicle body, a steering device and at least one wheel set. The vehicle body is used for bearing the container; a steering device for transmitting steering power; the vehicle comprises a vehicle body, at least one vehicle wheel set and a plurality of wheels, wherein the vehicle body is supported by the vehicle wheel sets, and the vehicle wheel sets comprise a plurality of wheels which receive the steering power through gear transmission so as to realize synchronous rotation in the same direction.

The power system may include: a steering drive device and a power supply device. A steering drive device for supplying the steering power to the steering device; the walking driving device is used for driving a driving wheel in the wheel set to walk; and the power supply device is used for supplying power.

The control system may include: steering control device, walking control device, telecommunication device and safety control device. The steering control device is used for outputting a steering signal to the steering driving device according to the destination and/or the traveling path information; the walking control device is used for outputting a walking signal to the walking driving device according to the destination and/or the traveling path information; the telecommunication device is used for identifying obstacles around the automatic guided vehicle and outputting obstacle information; and the safety control device outputs an avoidance signal to the steering driving device and/or the walking driving device according to the obstacle information.

The vehicle body can bear containers with general specifications in the market. In an embodiment, the power supply device may include a battery pack and a charging device. The steering control device and the walking control device can arrange steering and walking actions according to destination and/or running path information instructions sent by the command center, and enable the wheel set and the steering device to execute the actions.

In the embodiment, the wheels in the wheel set can realize the synchronism of all the wheels of the wheel set through gear transmission, so that the automatic guided vehicle runs stably and smoothly and is suitable for carrying large-tonnage containers remotely; the omnidirectional automatic guided vehicle is realized through the steering driving device and the steering control device; the container can be better borne through the vehicle body which is designed in a targeted manner; the automatic guided vehicle can be prevented from colliding with the barrier to cause mechanical damage through the safety control device.

In some embodiments, a portion of the exterior surface of the body is configured as a bulk material chute slope. The bulk material chute inclined plane can be matched with a container for unloading.

In the embodiment, the vehicle body is provided with a material sliding inclined plane matched with the bulk material, and the bulk material sliding inclined plane can be positioned at the tops of two sides of the vehicle body. For example, the body contour (skin) covers the entire body, and the slope portion of the body contour can be used for guiding the discharging material during discharging.

In the embodiment, the outer surface of the vehicle body can be an integrally closed smooth outer skin, the smooth outer skin can be in a semi-closed state, and most of the wheels can be closed inside, so that the vehicle body can be well adapted to a high-pollution dust environment.

In the embodiment, the top of the vehicle body is provided with a box falling guiding and positioning mechanism. The drop box guide positioning mechanism may be, for example, a convex cone. The shape of the falling guide positioning mechanism can play a role in guiding and positioning when the container falls, and can be matched with the falling guide positioning mechanism for use. The container drop positioning mechanism can be implemented according to the existing design, and can be a conical groove, for example.

In some embodiments, the plurality of wheels are distributed in extreme positions around the same lower shaft gear in the steering device (the wheels are located on extreme positions of the lower peripheral gear). In the embodiment, the design of the limit wheel set is adopted, so that the omnidirectional running flexibility can be realized, the large-tonnage load-bearing container dragging load can be more effectively supported, and the omnidirectional automatic guided vehicle can stably and smoothly run.

In the embodiment, the number of wheels in the wheel set may be set according to needs, for example, four, six, and the like. In some embodiments, each wheel set comprises four wheels distributed in a limit position, and the four wheels realize synchronous rotation in the same direction through gear transmission. In an embodiment, a gear on the wheel may be provided on top of the wheel, which may be a coaxial core gear.

In an embodiment, the wheel set may include a driving wheel and a driven wheel. For example, in a wheel set, two parallel wheels may be driving wheels, and the other two wheels may be driven wheels. Two wheels as driving wheels can be provided with a walking driving device to drive the vehicle body to move; the driven wheel can play a role in supporting the vehicle body, so that the vehicle body is stable in the steering motion process.

In some embodiments, the steering device may include: an upper shaft gear set, a transmission shaft set and a lower shaft gear set. The first transmission shaft in the transmission shaft group is used for receiving the steering power and transmitting the steering power to a first upper shaft gear in the upper shaft gear group, the first upper shaft gear is used for transmitting the steering power to at least one second upper shaft gear in the upper shaft gear group, the at least one second upper shaft gear is used for transmitting the steering power to at least one second transmission shaft in the transmission shaft group, and at least part of the at least one second transmission shaft is used for transmitting the steering power to the corresponding wheel group. In the embodiment, the gear transmission design is adopted, so that the synchronism of all wheels of the wheel set can be realized, and the omnidirectional automatic guided vehicle can run stably and smoothly; the steering power is transmitted through an upper shaft gear in the upper gear set, so that all wheels of the whole machine can be ensured to be synchronous and in the same direction.

In an embodiment, the steering power can be transmitted to the wheel set through the upper shaft gear set, the transmission shaft set and the lower shaft gear set in sequence, that is: the steering power is transmitted to the transmission shaft group through the upper shaft gear group, then transmitted to the lower shaft gear group and then transmitted to the wheel group. In an embodiment, the transmission shaft set, the upper gear set and the lower gear set may be distributed correspondingly.

In an embodiment, the upper gear set may include a plurality of upper shaft gears, the plurality of upper shaft gears may be linearly distributed, and adjacent upper shaft gears may be meshed with each other. The steering power is transmitted through an upper shaft gear in the upper gear set, so that all wheels of the whole machine can be ensured to be synchronous and in the same direction.

In an embodiment, the transmission shafts in the transmission shaft group may be quincunx shaft cores.

In the embodiment, the limit position of the lower shaft gear in the lower shaft gear set can be meshed with the gear of the wheel in the wheel set, so that steering power transmission is realized.

In the embodiment, bearings can be arranged at the fixed and rotating relation (for example, rotating parts such as an upper shaft gear, a lower shaft gear, a driving wheel and a driven wheel) so as to ensure smooth movement.

In some embodiments, the steering drive device may include: a steering motor. The steering motor may include a main power steering motor and a power steering motor. The main force steering motor is used for providing main force driving force to the first transmission shaft; the power-assisted steering motor is used for providing power-assisted driving force to the other transmission shafts when sensing the rotation of the other transmission shafts in the at least one second transmission shaft so as to accelerate the rotation of the other transmission shafts. The steering power includes the main-force driving force and the assist-force driving force.

In an embodiment, the main power steering motor may be located below the set of drive shafts. The rotation power provided by the main power steering motor can be transmitted to the upper shaft gear by the transmission shaft, then transmitted to all other upper shaft gears by the upper shaft gear, transmitted to all corresponding transmission shafts by all other upper shaft gears, transmitted to all corresponding lower shaft gears by the transmission shaft, and transmitted to the corresponding wheel set by the lower shaft gear, so that the transmission of the steering power is realized, and all wheels are synchronous and in the same direction.

In one embodiment, the power steering motor may be located below the transmission shaft of the steering apparatus and may be adjacent to the main power steering motor, and the power steering motor may be self-started when sensing rotation of the corresponding transmission shaft, so as to assist the main power steering motor in completing the steering of the wheels.

In the embodiment, the main force motor and the power-assisted motor can rotate in two directions, so that the rotation direction of the wheel can be controlled.

In an embodiment, the main force motor and the booster motor may be rotationally linearly displaced, and the control gears (e.g., the upper shaft gear and the lower peripheral gear) may be rotationally linearly displaced, so that the rotational angle of the wheel may be controlled.

In an embodiment, the steering drive device further comprises: shaft coupling, reduction gear and stopper. The decelerator decelerates the wheels if necessary, and the brake stops the wheels if necessary. The coupling can be applied to the coupling of various motors and reducers and the coupling of the reducers and rotating parts.

In some embodiments, the wheel set includes four wheels, two of which are driving wheels and the other two of which are driven wheels; the walking driving device can be positioned between the two parallel driving wheels and is used for coaxially driving the two driving wheels to walk; the different wheel sets correspond to different walking driving devices, and the turning and turning actions of the vehicle body are realized through the walking differential speed between the wheel sets.

In an embodiment, the travel driving device is located between two parallel wheels in a wheel set, and each wheel set is provided with a corresponding travel driving device.

In an embodiment, two wheels driven by the walking motor in each wheel set are driving wheels, and the other two wheels are driven wheels. The two driving wheels can be driven coaxially, so that the traveling speeds of all wheels in each wheel set are consistent.

In an embodiment, the plurality of wheel sets can be correspondingly provided with the walking driving device. The wheel set can run in a differential mode through the differential speed of the running motor, and therefore turning and turning actions of the vehicle body are achieved.

In an embodiment, the walking drive device comprises: walking motor, reduction gear, shaft coupling and stopper.

In some embodiments, the telecommunications device may also be used to identify the discharge area and environment, and output discharge environment information. The control system further comprises: and the unloading environment-friendly control device is used for outputting an unloading/resetting signal according to the unloading environment information. The mechanical system further comprises: the discharging environment-friendly device is used for sleeving and attaching the vehicle body when the automatic guided vehicle is in a carrying state, and is matched with the discharging side of the vehicle body to form a closed discharging channel when the automatic guided vehicle is in a discharging state. The power system further comprises: and the unloading environment-friendly driving device is used for providing driving power for state conversion between the sleeving and attaching vehicle body and the closed unloading space according to the unloading/resetting signal. One end of the closed unloading channel can be communicated with a container carried by the vehicle body, the other end of the closed unloading channel can be communicated with the receiving area, and bulk materials in the container are unloaded from the closed unloading channel without overflowing. In this embodiment, the environmental protection device of unloading cooperates the discharge side of automobile body to form and seals the passageway of unloading when the automatic guided vehicle is in the state of unloading, can adapt to the special purpose that the container was unloaded, and the control dust is excessive, pollution abatement.

In an embodiment, the discharge side may be provided with a bulk material chute slope. Three sides of the closed cover and one side of the bulk material sliding slope form a closed discharging channel which is a closed chute. The discharging environment-friendly device is matched with the vehicle body to form a closed chute when the automatic guiding vehicle is in a discharging state, and the discharging environment-friendly device can control dust to overflow and can also facilitate discharging.

In some embodiments, the environmentally friendly discharge apparatus comprises: a closure cap and a push rod; the closed cover is sleeved and attached to the car body from the opposite side and two sides of the discharge side of the car body; when the automatic guided vehicle is in a discharging state, the push rod is used for pushing the sealing cover away from the discharging side, so that the sealing cover is matched with the discharging side to form the sealing discharging channel, and when the automatic guided vehicle finishes discharging, the push rod is used for pulling back the sealing cover. In the embodiment, the design of the environment-friendly discharging closed cover is adopted, the special purpose of discharging the container can be adapted, the dust overflow can be controlled by utilizing the closed cover, and the pollution is reduced.

In an embodiment, the container may be unloaded from opposite sides, the body may be provided with discharge sides on opposite sides, and both discharge sides may be provided with the enclosure.

In an embodiment, the environmental discharging device can comprise a closed cover and an electric push rod. In an embodiment, the environmental discharge device may include a closing cap and a hydraulic push rod. The closed cover can comprise a left part and a right part which are used for protecting the two sides of the vehicle body and preventing the discharging from overflowing. The closing cap can cooperate the discharge side of automobile body to form the passageway of unloading when unloading, plays the guide effect. The push rod may be, for example, an electric push rod, a hydraulic push rod, or the like. The environment-friendly discharging driving device can provide hydraulic driving force, electric driving force and the like.

In the embodiment, the shape of the closed cover can be completely matched with the vehicle body, and the closed cover can be closed in three sides and sleeved on the outer side of the vehicle body. The push rod can be a rod body with two telescopic ends, the sealing cover can be composed of two parts, each part of the sealing cover can be sealed in three sides, and the two parts of the sealing cover can be respectively fixed at the two ends of the rod body. When the rod body extends, the two parts of the closed covers are separated and matched with the vehicle body to form a discharging chute (discharging channel); when the rod body is shortened, the two parts of the enclosing covers are pulled back to be closed and are sleeved and attached to the vehicle body, and no extra space is occupied.

In an embodiment, in the unloading state, the hydraulic push rod pushes the sealing cover away, so that the sealing cover and the vehicle body form a sealing chute, for example, one side of the sealing chute is the vehicle body, the three sides of the sealing chute are the sealing cover, the vehicle body and the sealing cover form a sealing shape comprising four sides, the upper end of the sealing shape can be a bulk material inlet, and the lower end of the sealing shape can be a bulk material outlet. Therefore, the automatic unloading device can be matched with a container dragged and carried by a self-guiding vehicle for automatic unloading; when the vehicle is in a carrying state, the hydraulic push rod pulls back the sealing cover to enable the sealing cover to be attached to the vehicle body into a whole, so that the unloading overflow can be prevented.

In an embodiment, the unloading environment-friendly control device receives an unloading instruction and a resetting instruction of the telecommunication device and enables the unloading environment-friendly device to execute corresponding actions.

In some embodiments, the telecommunications apparatus comprises: the visual recognition device and the radar monitoring device are used for recognizing obstacles, unloading areas and environments. The visual identification and radar monitoring can identify obstacles in the driving process, output obstacle information and report the obstacle information to the safety control device to take avoidance measures. The visual identification and radar monitoring can identify the unloading area and environment, output the unloading environment information and report the unloading environment information to the unloading environment-friendly control device to take environment-friendly measures.

In some embodiments, the telecommunications apparatus further comprises: weighing instrument, multi-machine interaction and multi-machine cooperation. The weighing instrument is used for weighing the weight of the container and outputting weighing data; the multi-machine interaction is used for sending the weighing data and the serial number information of the automatic guided vehicle to the container; the multiple machines are used for receiving and sending commands in cooperation with surrounding devices including the container, the receiving groove automatic door and the crane. The multi-machine interaction sends the weighing data and the identity number information of the automatic guided vehicle to the towed container, so that the automatic guided vehicle can cooperate. The multi-machine interaction and multi-machine cooperation device can be realized by utilizing the existing chip and technology. For example, multi-machine interaction and multi-machine collaboration can be implemented using existing communication modules.

In an embodiment, the weighing apparatus should be able to carry the weight of the container carried by the automated guided vehicle.

In the embodiment, the visual identification and radar monitoring can identify the obstacles in the driving process and report the obstacles to the safety control device to take avoidance measures. In the embodiment, the visual identification and the radar monitoring can identify the unloaded area and the environment and report to the unloading environment-friendly control device to take environment-friendly measures.

In an embodiment, the multi-machine interaction may send the weighing data and the self-guided vehicle identity number information to the towed container. The self-guiding car and the container can be mutually matched in work, the self-guiding car can send information to the corresponding container, the container can collect the information comprising weighing data and self-guiding car part numbers, and the collected information can be used for screen display.

In an embodiment, the multiple machines cooperate to send and receive instructions with the container, for example, when the automatic guided vehicle enters the unloading area and the unloading preparation is completed, the multiple machines cooperate to send an unloading instruction to the container to open the container unloading opening, and when the weighing data of the weighing instrument and the result of the visual identification indicate that the unloading is completed, the multiple machines cooperate to send a reset instruction to the container to close the container unloading opening.

In an embodiment, the multiple machines cooperate to send and receive commands with the automatic gate of the receiving trough, for example, when the automatic guided vehicle carries the container to enter and exit the receiving trough, the multiple machines cooperate to send a gate opening and closing command to the automatic gate of the receiving trough, and when the automatic guided vehicle carries the container to enter the receiving trough to prepare for discharging, the multiple machines cooperate to send a fully closed command to the automatic gate of the receiving trough.

In an embodiment, the multiple machines cooperate to send and receive commands with the crane, for example, when the automatic guided vehicle is parked in the loading and unloading area of the crane, the loading and unloading commands can be sent to the crane through the multiple machines.

In the embodiment, the multi-machine cooperation can cooperate with a command center to receive an instruction to complete a task, and the automatic guided vehicle can receive destination and running path information sent by the command center and complete a container handling task according to the command of the command center.

In the embodiment, a control mode of a telecommunication device (comprising visual identification and single-machine automatic control, multi-machine interaction, multi-machine cooperation and the like) is adopted, so that full-automatic operation and management can be realized.

In some embodiments, the mechanical system may further comprise: a safety device. The safety device may be a physical structure mounted around the vehicle body. The safety device can be used for preventing the vehicle body from being damaged by mechanical collision. In an embodiment, the safety devices may be located at both ends of the vehicle body. In the embodiment, the safety control device receives the obstacle information of the telecommunication device, analyzes and decides an avoidance scheme, and can enable the wheel set and the steering device to execute corresponding actions.

The following description of the embodiments of the invention is given by way of example:

fig. 1 is a schematic front view of an automatic guided vehicle according to an embodiment of the present invention. Fig. 2 is a schematic cross-sectional view of the automatic guided vehicle shown in fig. 1, taken along line D-D. As shown in fig. 1 and 2, the automatic guided vehicle may include: mechanical system 100, power system 200, control system 300, these three parts can form the automatic guide car that has intelligent characteristic. Fig. 3a is an exploded schematic view of a container positioning device, a bearing, an upper shaft gear, a transmission shaft, a lower shaft gear, a driving wheel, a driven wheel, a main power steering drive, a walking drive, a battery pack and a charging device of the body of the automatic guided vehicle shown in fig. 2; FIG. 3b is an exploded view of the container positioning device, control system, body and safety device of the automated guided vehicle of FIG. 2; fig. 3c is an exploded view of the discharging environmental protection enclosure, the discharging environmental protection electric push rod and the telecommunication device of the automatic guided vehicle shown in fig. 2. Fig. 4 is a schematic sectional view a-a of the automatic guided vehicle shown in fig. 1. Fig. 5 is a schematic sectional view B-B of the automatic guided vehicle shown in fig. 1. Fig. 6a is a schematic cross-sectional view of the automatic guided vehicle of fig. 1 in a cross-sectional view C-C. Fig. 6b is a schematic cross-sectional view C-C of the automated guided vehicle of fig. 1 traveling in a longitudinal direction. Fig. 6C is a schematic cross-sectional view of the automated guided vehicle of fig. 1 taken in any direction through C-C.

As shown in fig. 3a to 6c, the mechanical system 100 may include: the device comprises a vehicle body 111, a container positioning device 112, a bearing 122, an upper shaft gear 123, a transmission shaft 124, a lower shaft gear 125, a driving wheel 136, a driven wheel 137, a discharging environment-friendly closed cover 141 and a safety protection device 151. The power system 200 may include: the device comprises a main power steering drive 201, power steering drives 202 (202-1-202-4), walking drives 203 (203-1-203-2), a discharging environment-friendly electric push rod 204, a battery pack and a charging device 205. The control system 300 may include: a weighing instrument 311, a telecommunication device 310 (comprising a traveling environment recognition device 312 and a receiving tank environment recognition device 313), a steering control device 320, a walking control device 330, a discharging environment protection control device 340 and a safety control device 350. The identification means may for example implement an identification function with a sensor.

In the steering process, the telecommunication device 310 receives a task command sent by a command center and comprises destination and path planning information, the control system 300 plans the action sequence of the self-guiding vehicle, and the steering control device 320 starts the main power steering drive 201 to complete the steering of the wheel set by 90 degrees. The main power steering drive 201 rotates to drive the transmission shaft 124-4 to rotate, so as to drive the upper shaft gear 123-4 to rotate, so as to drive all the upper shaft gears 123-1 to 123-7 to rotate, so as to drive all the transmission shafts 124-1 to 124-7 to rotate, and simultaneously all the power steering drives 201-1 to 202-4 start the power-assisted gears to rotate, so as to drive all the lower shaft gears 125-1 to 125-3 to rotate, so as to transmit power to the driving wheels 136 and the driven wheels 137 of all the wheel sets. The motor of the main power steering drive 201 rotates m turns, so that the driving wheel 136 and the driven wheel 137 of the wheel set synchronously rotate n degrees in the same direction, and the steering action of the wheels is completed.

During the walking process, the telecommunication device 310 receives a task command sent by the command center and comprises destination and path planning information, the control system 300 plans the action sequence of the self-guiding vehicle, and the walking control device 330 starts the walking drive 203(203-1 and 203-3) to complete the straight-line driving and turning of the wheel set. The motors of the walking drives 203(203-1 and 203-3) rotate, so that the driving wheel 136 is driven to rotate, the driven wheel 137 is driven to rotate, and the whole omnidirectional automatic guided vehicle is driven to move. The motor of the walking drive 203 rotates for x turns, so that the omnidirectional automatic guided vehicle can move for y meters. The motors of the walking drive 203-1 and the walking drive 203-3 are in differential speed and reverse rotation, so that the omnidirectional automatic guided vehicle can complete turning.

In the unloading process, the receiving groove environment recognition device 313 in the telecommunication device 310 recognizes the receiving groove unloading area, and the unloading environment-friendly control device 340 starts the unloading environment-friendly electric push rod 204 to assist the container to finish unloading; the discharging environment-friendly electric push rod 204 extends to unfold the discharging environment-friendly closed cover 141 to form a closed discharging space. The receiving groove environment recognition device 313 in the telecommunication device 310 recognizes the end of discharging, meanwhile, the weighing data of the weighing instrument 311 is no-load, and the discharging environment-friendly control device 340 starts the discharging environment-friendly electric push rod 204 to complete the equipment resetting; the discharging environment-friendly electric push rod 204 retracts to retract the discharging environment-friendly sealing cover 141, and the resetting of the discharging environment-friendly sealing cover is completed.

During the safe driving, the driving environment recognition device 312 in the telecommunication device 310 recognizes an obstacle within a safe distance of the driving route, such as the obstacle safety control device 350 activates the driving unit 203 to stop or to slow down for avoiding.

The automatic guide vehicle provided by the embodiment of the utility model adopts the gear transmission design, realizes the synchronism of all wheels of the wheel group, and enables the omnidirectional automatic guide vehicle to run stably and smoothly; the design of the limit wheel set is adopted, so that the flexibility of omnidirectional driving is realized, the towing and carrying of a large-tonnage load-bearing container are more effectively supported, and the omnidirectional automatic guided vehicle runs stably and smoothly; the design of the unloading environment-friendly closed cover is adopted, the special purpose of container unloading is adapted, the unloading environment-friendly closed cover controls dust overflow, and pollution is reduced; the telecommunication device is adopted to realize full-automatic operation and management by adopting a computer control technology of visual identification, single-machine automatic control, multi-machine interaction and multi-machine cooperation. The omnidirectional running transmission mechanism and the driving configuration are matched with the appearance of an unloading inclined plane vehicle body, the unloading closed space and the comprehensive application of telecommunication and electric control technology, so that the automatic guided vehicle has intelligent characteristics. The bulk container carrying type omnidirectional automatic guide vehicle can ensure that the bulk raw fuel is not lost, polluted and packaged intelligently loaded and unloaded in the whole transportation process. The utility model discloses an automatic guide car of bulk cargo container transport type qxcomm technology can go according to planning route far stroke automation, can promote work efficiency, can cooperate the transport and the loading and unloading of bulk cargo container, can have the guide and press down the dirt function when the bulk cargo loading and unloading, can adapt to the operating mode of high dust concentration, has filled the bulk cargo container transport type qxcomm technology automatic guide car that is applicable to bulk cargo warehousing and transportation technology and still is market blank.

In the description herein, reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," "an example," "a particular example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The sequence of steps involved in the embodiments is for illustrative purposes, and the sequence of steps is not limited and may be adjusted as desired.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An automated guided vehicle, comprising: a mechanical system, a power system and a control system; wherein,

the mechanical system comprises:

the vehicle body is used for bearing the container;

a steering device for transmitting steering power; and

the vehicle comprises a vehicle body, at least one wheel set, a plurality of wheels and a control device, wherein the vehicle body is supported by the at least one wheel set;

the power system comprises:

a steering drive device for supplying the steering power to the steering device;

the walking driving device is used for driving a driving wheel in the wheel set to walk; and

a power supply device for supplying power;

the control system includes:

the steering control device is used for outputting a steering signal to the steering driving device according to the destination and/or the traveling path information;

the walking control device is used for outputting a walking signal to the walking driving device according to the destination and/or the traveling path information;

the telecommunication device is used for identifying obstacles around the automatic guided vehicle and outputting obstacle information; and

and the safety control device outputs an avoidance signal to the steering driving device and/or the walking driving device according to the obstacle information.

2. The automated guided vehicle of claim 1, wherein a portion of the exterior surface of the vehicle body is configured as a bulk material chute slope.

3. The automated guided vehicle of claim 1, wherein the plurality of wheels are endlessly distributed about a same lower shaft gear in the steering device.

4. The automated guided vehicle of claim 1, wherein the steering device comprises: an upper shaft gear set, a transmission shaft set and a lower shaft gear set; the first transmission shaft in the transmission shaft group is used for receiving the steering power and transmitting the steering power to a first upper shaft gear in the upper shaft gear group, the first upper shaft gear is used for transmitting the steering power to at least one second upper shaft gear in the upper shaft gear group, the at least one second upper shaft gear is used for transmitting the steering power to at least one second transmission shaft in the transmission shaft group, and at least part of the at least one second transmission shaft is used for transmitting the steering power to the corresponding wheel group.

5. The automated guided vehicle of claim 4, wherein the steering drive device comprises: a steering motor; the steering motor comprises a main power steering motor and a power-assisted steering motor; the main force steering motor is used for providing main force driving force to the first transmission shaft; the power-assisted steering motor is used for providing power-assisted driving force to the rest transmission shafts when sensing the rotation of the rest transmission shafts in the at least one second transmission shaft so as to accelerate the rotation of the rest transmission shafts; the steering power includes the main-force driving force and the assist-force driving force.

6. The automatic guided vehicle of claim 1, wherein the wheel set comprises four wheels, two of which are driving wheels and the other two of which are driven wheels; the walking driving device is positioned between the two parallel driving wheels and is used for coaxially driving the two driving wheels to walk; the different wheel sets correspond to different walking driving devices, and the turning and turning actions of the vehicle body are realized through the walking differential speed between the wheel sets.

7. The automated guided vehicle of any one of claims 1 to 6, wherein the telecommunications device is further configured to identify a discharge area and environment, and output discharge environment information;

the control system further comprises: the unloading environment-friendly control device is used for outputting an unloading/resetting signal according to the unloading environment information;

the mechanical system further comprises: the unloading environment-friendly device is used for sleeving and attaching the automatic guided vehicle body when the automatic guided vehicle is in a carrying state, and forming a closed unloading channel by matching with the unloading side of the vehicle body when the automatic guided vehicle is in an unloading state;

the power system further comprises: and the unloading environment-friendly driving device is used for providing driving power for state conversion between the sleeving and attaching vehicle body and the closed unloading channel according to the unloading/resetting signal.

8. The automated guided vehicle of claim 7, wherein the dump environmental protection device comprises: a closure cap and a push rod; the closed cover is sleeved and attached to the car body from the opposite side and two sides of the discharge side of the car body; when the automatic guided vehicle is in a discharging state, the push rod is used for pushing the sealing cover away from the discharging side, so that the sealing cover is matched with the discharging side to form the sealing discharging channel, and when the automatic guided vehicle finishes discharging, the push rod is used for pulling back the sealing cover.

9. The automated guided vehicle of claim 7, wherein the telecommunications device comprises: the visual recognition device and the radar monitoring device are used for recognizing obstacles, unloading areas and environments.

10. The automated guided vehicle of claim 9, wherein the telecommunications device further comprises: weighing instrument, multi-machine interaction and multi-machine cooperation; the weighing instrument is used for weighing the weight of the container and outputting weighing data; the multi-machine interaction is used for sending the weighing data and the serial number information of the automatic guided vehicle to the container; the multiple machines are used for receiving and sending commands in cooperation with surrounding devices including the container, the receiving groove automatic door and the crane.