CN208883413U - Mobyneb automated guided vehicle - Google Patents

Abstract

The utility model relates to Mobyneb automated guided vehicles.Mobyneb automated guided vehicle includes: car body, and car body has chassis, and there are two prong base frames disposed in parallel for chassis tool；Vehicle drive system, there are two driving wheel, multiple universal wheels and two first driving devices for respectively driving the rotation of two driving wheels for tool；Two driving wheels are respectively arranged at two side lower parts in middle part in the front-back direction on chassis；Multiple spot jacking apparatus with multiple lifting devices and respectively drives the second driving device that multiple lifting devices carry out elevating movements；Two pallets, each pallet are set at least two lifting devices；Bus system, multiple second driving devices of synchronously control；With safe guiding device, there is solid-state laser pathfinder, laser obstacle avoidance sensor, touch sensor, the mechanical anticollision strip for being set to car body and combined aural and visual alarm and scram button.Can reduce fork height to the maximum extent, and least radius realize turning.

Description

Mobyneb automated guided vehicle

Technical field

The utility model relates to automated guided vehicle fields, transport more particularly to a kind of Mobyneb homing guidance Vehicle.

Background technique

Automated guided vehicle (Automated Guided Vehicle, abridge AGV) is row fast-developing in recent years One of industry.AGV is mainly used for the sorting storage and transportation in electric business warehouse, online offline and warehouse the logistics of Manufacture Enterprise Logistic is carried Etc. scenes, be the necessary article in material flows automation equipment.AGV presses structure, can be divided mainly into three categories:

The first kind is fork truck repacking formula AGV, and from fork truck repacking, main structure is fork truck or electrocar, is led Boat mode is reflecting plate laser navigation.Fork truck repacking formula AGV is mainly used for managing pallet, and prong height 120mm, load highest can To reach 3000kg, lifting altitude can achieve 4000mm, be main force's vehicle of warehouse AGV.Fork truck reequips formula AGV and uses rudder Wheel drive, major defect are that turning radius is larger, can waste warehouse space；In addition price is also costly.

Second class is disk jacking type AGV, is mainly used in electric business warehouse logistics and sorts, navigation mode be inertial navigation+ Two-dimension code navigation.It is domestic general also referred to as " imitative KIVA formula " because utility model person is KIVA company, the U.S. first for it.The form Round or ellipse is presented in shape, and height 350mm is driven using two-wheeled brushless motor differential, separately configures rotary lifting body, Maximum load 1000kg.The type can be rotated around body center, and turning radius is minimum, so being usually used in high density warehouse In storage or sorting work.But shelf are dedicated, so implementation cost is higher.

Third class is magnetic navigation formula AGV, and mainly for the production of materials circulation, navigation mode is magnetic stripe navigation, using two-wheeled Or four-wheel brushless motor differential driving.Magnetic stripe navigates primary structure using box sheet metal structural, and all components are mounted in box metal plate Golden interior of shell, sheet metal shell had both born external force resistance to deformation, again as the protective layer of component.This structure can make car body It is relatively light, material is saved, but difficulty of processing and assembling is larger.Wherein, magnetic navigation formula AGV can be also divided into backpack by structure, bear rolling Cartridge type, jacking type, the towed five kinds of principal modes of submarine and tail portion, realize that different materials fetches and delivers function respectively.

Backpack AGV: major design form is directly to pick and place cargo at the back AGV.This design method is mainly used in Underloading (such as electric business sorts mail use), or it is extremely heavily loaded (such as container).

Bear drum-type AGV: major design form is to be equipped on station on the top of AGV equipped with rolling wheel type transporter The roller type of same height conveys connection platform.When AGV is docked with connection platform, the cargo on rolling wheel type transporter can automatically up and down AGV.The degree of automation for bearing drum-type AGV is higher, but connection platform higher cost.

Jacking type AGV: its back designs has lifting body, generally hydraulic cylinder scissor-type jacking apparatus.When AGV works When, material frame can be drilled into the following, jacking up material frame transhipment；When reaching home, jacking apparatus is fallen, and puts blanking rack, and transhipment work is complete At.

Backpack, bear drum-type, the goods weight of jacking type AGV all acts directly on car body, will lead to load compared with It is small.

Submarine AGV: mainly matching with truck, achievees the purpose that automatic clamping and placing truck.It is mainly characterized by, submarine There is one or two lifting PIN at the back AGV, can stretch out or retract under software control；Truck is equipped with four or more universal wheels, Hook with spring is housed below, the automatic material taking vehicle of submarine truck and the purpose of blowing vehicle may be implemented in the two cooperation.It is latent Volt formula AGV may be implemented heavier load using truck and carry；But because universal wheel is unstable, it is not easy to position, turning radius compared with Greatly, need space more, auxiliary device is more, and enforcement difficulty is larger.In addition, truck needs special designing, cost is higher.

The towed AGV in tail portion: its also with truck cooperate, unlike truck can by being interconnected to form fleet, by One AGV draws and goes.In some cases, it is also possible to which submarine AGV replaces realizing.The self weight of the vehicle must be heavier, produces Raw biggish frictional force, could draw fleet.The vehicle turning radius is quite big, needs space maximum；Truck is more, cost compared with It is high.

Due to the mounting means of magnetic navigation sensor, the minimum altitude of above-mentioned five kinds of magnetic navigations formula AGV vehicle cannot be low In 195mm, landing pallet can not be applied to.

In short, in addition to above-mentioned seven kinds of vehicles, there are also the AGV of some special designings, such as the dedicated AGV of SMT industry, herein not It does and more repeats.

The development of AGV has met with bottleneck at nearly 2 years, and main cause is that cost performance is not high.The reason of leading to such case, has Two, first is that key technology and key components and parts are under one's control, lead to price virtual height.Such as the reflector type laser of laser fork truck Navigation mode, navigation software uses NDC system substantially at present, and high expense of joining keeps fork truck entreprise cost very high.Also such as magnetic For the obstacle avoidance sensor of navigation-type AGV based on import, domestic performance is still less reliable.Second is that magnetic navigation formula AGV vehicle is numerous, Non-standard de-sign, nonstandard production, nonstandard service increase cost, keep industry development stranded.In addition, the ground magnetic navigation formula AGV need to be applied If magnetic stripe, workshop aesthetics can be impacted, user is not easily accepted by generally.In addition, the magnetic stripe service life is short, maintenance maintenance cost compared with Height also affects its popularization and application.

Utility model content

The utility model is intended to overcome at least one defect of existing automated guided vehicle, provide a kind of Mobyneb from Dynamic guide transport lorry, without laying, being not necessarily to or need ancillary equipment less, turning radius is small, and working space is small, and cargo density is high, at This minimumization, it is easy to promote and utilize.

Specifically, the utility model proposes a kind of Mobyneb automated guided vehicles, comprising:

Car body, the car body have chassis, and there are two prongs disposed in parallel for the chassis tool；Each prong is inserted Enter the rear end that end is the car body；And the support that each prong has prong base frame and is set on the upside of the prong base frame Disk；

Vehicle drive system, tool is there are two driving wheel, multiple universal wheels and respectively drives two driving wheel rotations Two first driving devices；The part of each driving wheel is located in the prong, and rest part extends downwardly this Prong, and it is in the middle part along the longitudinal direction on the chassis；Multiple universal wheels are set to the bottom on chassis；It is each described First driving device has servo motor and retarder, is set in the prong, and watches described in retarder connection Take motor and a driving wheel；

Multiple spot jacking apparatus is set to the downside of two pallets, and the multiple spot jacking apparatus has multiple liftings Device and the second driving device for respectively driving multiple lifting devices progress elevating movements；The downside of each pallet It is provided at least two lifting devices；

Bus system is connected to multiple second driving devices, with multiple second driving devices of synchronously control, into And make multiple lifting device synchronization liftings；With

Safe guiding device, the safe guiding device have the solid-state laser at the top for the front end for being set to the car body Pathfinder, be set to the car body front end lower part laser obstacle avoidance sensor, be set to the insertion of a prong The touch sensor at end, the mechanical anticollision strip for being set to the car body, and it is set to the combined aural and visual alarm of car body top And scram button；The combined aural and visual alarm and the solid-state laser pathfinder, the laser obstacle avoidance sensor, the contact Sensor and the mechanical anticollision strip are directly or indirectly electrically connected, with sending sound and/visual alarm.

Further, there is the resigning hole for the driving wheel of stepping down on each pallet.

Further, each lifting device includes:

First supporting support, the bottom end of first supporting support are rotatably installed on the chassis, and described first The lower end of supporting support has the first teeth；

Second supporting support, the bottom end of second supporting support are rotatably installed on the chassis, and described second The lower end of supporting support has the second teeth engaged with first teeth；

First movement block, the first movement block are rotatably installed on the upper end of first supporting support；And it is described There is the first threaded hole on first movement block；

Second movable block, second movable block are rotatably installed on the upper end of second supporting support；And it is described There is the second threaded hole on second movable block；

The upper end of third supporting support, the third supporting support is rotatably installed on the pallet, and lower end is rotatable Ground is installed on the first movement block；And the upper end of the third supporting support has third teeth；

The upper end of 4th supporting support, the 4th supporting support is rotatably installed on the pallet, and lower end is rotatable Ground is installed on second movable block, and the upper end of the 4th supporting support has the 4th tooth engaged with the third teeth Tooth；With

Screw rod, the screw rod is horizontally disposed, and is installed on first threaded hole and second threaded hole, to rotate When, keep the first movement block and second movable block close to each other or separate, and then increased the lifting device Or decline；Second driving device drives the screw rod rotation.

Further, the universal wheel is 4, and two universal wheels are set to the front and back two of a driving wheel Side, universal wheel described in other two are set to the front and rear sides of another driving wheel.

Further, the material on the chassis is 12mm ship plate；

The height of the lower surface on the chassis is 6mm to 10mm；The height of the upper surface of the pallet be 100mm extremely 120mm；

The starting altitude of each lifting device is 60mm to 80mm；

The diameter of each driving wheel is 80mm to 100mm.

Further, the car body further includes the column for being installed on the chassis front end, and is installed on the column top The lamina tecti at end；And solar panel, controller board and control boxboard are disposed on the column from bottom to top.

In the Mobyneb automated guided vehicle of the utility model, there is prong base frame and pallet, pallet fork formula height can Less than 120mm, the requirement of landing pallet can satisfy.I.e. the Mobyneb automated guided vehicle reduces to the maximum extent Fork height.Can be applied to national standard, the internal height of national standard pallet is 120mm, so, applied to Standard pallet AGV fork height has to be lower than 110mm.

Vehicle drive system can make the Mobyneb automated guided vehicle carry out 90 ° or 180 ° around center Rotation, can be only achieved smaller even zero purpose of turning radius, will not waste warehouse space.That is the Mobyneb homing guidance Realize turning to transport vehicle least radius.Specifically, in manufacturing industry logistics, pallet using very extensive, removed for pallet The vehicle class of fortune is also very comprehensive.These vehicles have various power and control form, including diesel, battery power, people Work power, pilot steering, laser navigation, magnetic navigation etc..But it is common that these vehicles have the characteristics that one, because power is in vehicle Unilateral side, cause turning radius larger, often workshop does not have enough spaces to use these vehicles.This is that existing pallet is removed Transport the common feature of vehicle.In order to solve this using pain spot, the utility model will accomplish using from center as 90 degree of center original place or 180 Rotation keeps turning radius minimum.

Using solid-state laser pathfinder, belong to trackless navigation mode, gets rid of two-dimension code navigation, magnetic stripe navigates, magnetic nail is led Boat, reflecting plate laser navigation it is any.Further, servo motor has measuring and calculating calibration function, can be used for navigating.Solid-state swashs Light guide radar is mounted in highest point, can play the role of obstacle avoidance sensor simultaneously.The radar can be simultaneously in same plane to 270 degree Direction emits 16 line lasers, and when there is barrier to appear within the scope of sensor settings, controller can issue alarm signal, until Parking.And other safety convenience instruments, improve safety.

Multiple spot jacking apparatus can reach pallet in prong or cargo smoothly jacks.Bussing technique is taken to synchronize control System, achievees the purpose that while jacking.Preferably, mechanical shear fork type jacking device is directly controlled using motor, small in size but lift is big, bears Lotus is larger (reaching 1000kg or more), could be more general.Using the servo electricity of the small reduction ratio large torque of the high-power slow-speed of revolution Machine and planetary reduction gear, small in size, torque is very big, can be installed in prong.

The Mobyneb automated guided vehicle of the utility model is compact-sized on the whole, and external form is smaller, and reasonable stress is equal It is even, and stress deformation can be prevented.To sum up, the Mobyneb automated guided vehicle of the utility model is without laying, being not necessarily to or lack Ancillary equipment is needed, user can standardize application, can be with standardized production using simple, installation is simple, easy to maintenance, and pass through Standardized designs and production reduce cost, and the localization rate of parts and components is high, dependence of the reduction to foreign technology or product, high degree of automation, Intelligence degree is high, is not necessarily to human assistance, and turning radius is small, and working space is small, and cargo density is high, minimization of cost, convenient for pushing away Wide application.

According to the accompanying drawings to the detailed description of the utility model specific embodiment, those skilled in the art will be more Add the above-mentioned and other purposes, advantages and features of clear the utility model.

Detailed description of the invention

Some specific realities of the utility model are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter Apply example.Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that The drawings are not necessarily drawn to scale.In attached drawing:

Fig. 1 is the schematic diagram according to the Mobyneb automated guided vehicle of the utility model one embodiment；

Fig. 2 is the schematic diagram at another visual angle of Mobyneb automated guided vehicle shown in Fig. 1；

Fig. 3 is the schematic local structural graph of Mobyneb automated guided vehicle shown in Fig. 1；

Fig. 4 is the schematic local structural graph of vehicle drive system in Mobyneb automated guided vehicle shown in Fig. 1；

Fig. 5 is the schematic local structural graph of lifting device in Mobyneb automated guided vehicle shown in Fig. 1.

Specific embodiment

Fig. 1 is the schematic diagram according to the Mobyneb automated guided vehicle of the utility model one embodiment. As shown in Figure 1 and referring to figs. 2 to Fig. 5, the utility model embodiment provides a kind of Mobyneb automated guided vehicle.It is a kind of Mobyneb automated guided vehicle, which is characterized in that including car body 20, vehicle drive system 30, multiple spot jacking apparatus 40, total Linear system system and safe guiding device.

Car body 20 has chassis 21, is installed on the column 22 of 21 front end of chassis, and is installed on the top cover on 22 top of column Plate 23.There are two prongs disposed in parallel for the tool of chassis 21.The insertion end of each prong is the rear end of car body 20.Each prong has Prong base frame 211 and the pallet 50 for being set to 211 upside of prong base frame.Column 22 is disposed with solar panel, control from bottom to top Device plate processed and control boxboard.

Chassis 21 is preferably bearing-type large chassis.Chassis 21 is the maximum component of AGV stress, is the pass that car body 20 designs Key.The chassis 21 needs to bear the gravity of the gravity of cargo, the motive force of motor, the button power of rotation, the pressure of jacking, component Etc., and want long-time resistance to deformation.After 12mm ship plate bending can be used in chassis 21, by weldering, plane, milling, brill, tapping It etc. a series of processing, is fabricated using high tempering, to improve hardness and rigidity.

The tool of vehicle drive system 30 is there are two driving wheel 31, multiple universal wheels 32 and respectively drives two rotations of driving wheels 31 Two first driving devices 33.Each first driving device 33 has servo motor and retarder.Retarder is preferably planet Gear reduction unit.Servo motor has measuring and calculating calibration function, can be used for navigating.Further, the model of first driving device 33 It can be SF80B07530C2004-80ZDWF10.Two driving wheels 31 are respectively arranged at 21 lower part of chassis, are located at before chassis 21 The outside at the middle part of rear direction.Multiple universal wheels 32 are set to the lower part on chassis 21, it is preferable that universal wheel 32 is 4, two ten thousand The front and rear sides of a driving wheel 31 are set to wheel 32, other two universal wheel 32 is set to the front and back of another driving wheel 31 Two sides.The diameter of each driving wheel 31 can be 80mm to 100mm.Damping device 34 is additionally provided at each driving wheel 31.Vehicle The spinning movement of 90 degree or 180 degree may be implemented in drive system 30；But it to be rotated around central point, then must configure on chassis 21 middle position.In order to balance, it should be equipped with 4 slave mode universal wheels 32 again, be arranged symmetrically centered on 21 center of chassis, It can guarantee car body balance, realize steady traveling.

Since the driving motor of driving wheel 31 is mounted on prong base frame 211, driving motor and the height of deceleration mechanism are equal No more than 80mm.In order to which load can reach 1000kg, deceleration mechanism torque should reach 60Nm or more.For the needs of navigation, Using servo motor.Even if in this way, motor reducer should have damping activity space, 21 corresponding position hollow out of chassis.Moreover, prong Base frame 211 and the height of pallet 50 are low, first driving device 30 be mounted in prong base frame 211 in the following, 31 diameter of driving wheel not above 100mm.This causes deceleration mechanism reduction ratio to reduce, and 0.75~1m/min of maximum speed of AGV needs is otherwise not achieved.But slow down It will lead to torque decline than reducing.So motor reducer type selecting and routine AGV have larger difference in the utility model, use The small reduction ratio large torque servo motor of the high-power slow-speed of revolution and planetary reducer.Four 32 height of universal wheel and installation are high Degree is not higher than 110mm.

Moreover, in this embodiment, power assembly, i.e. two first driving devices 33 design in pallet fork, i.e. prong base In frame 211.Each two first driving devices 33 may also include encoder.Two 31 centers of driving wheel must exist as much as possible On 20 physical centre's line of car body, guarantee to be easy to implement in a manner of differential and realize in be from center as far as possible close to load centre The heart rotates in place 90 degree or 180 degree.The mode of differential: when being exactly two 31 rotating Vortexes of driving wheel, car body linear motion；Two actively When 31 reverse rotation, car body rotary motion can carry out original place turn；It, can also whens two driving wheels, 31 rotating Vortex and not equal speed It realizes and turns round.

Multiple spot jacking apparatus 40, which has multiple lifting devices and respectively drives multiple lifting devices, carries out elevating movement Second driving device 41, is set to the downside of two pallets 50.And at least two liftings are provided on the downside of each pallet 50 Device.Bus system is connected to multiple second driving devices 41, with multiple second driving devices 41 of synchronously control, and then makes multiple Lifting device synchronization lifting.Second driving device 41 may include motor, and multiple lifting devices can be provided power by multiple electric motors, but There are the time difference between motor, the cargo run-off the straight on pallet 50 will lead to.In order to avoid such case generation, multiple spot motor Between take bussing technique to synchronize control, achieve the purpose that while jacking.That is, the height of the lower surface on chassis 21 For 6mm to 10mm.The height of the upper surface of pallet 50 is 100mm to 120mm.With prong base frame 211 and pallet 50, pallet fork formula Height is smaller than 120mm, can satisfy the requirement of landing pallet.Multiple spot jacking apparatus 40 can be realized on prong base frame Pallet or cargo smoothly jack.It takes bussing technique to synchronize control, achieve the purpose that while jacking.

Safe guiding device has the solid-state laser pathfinder 61 for the front top for being set to car body 20, is set to car body The laser obstacle avoidance sensor 62 of 20 front lower portion, be set to one or two prong insertion end one or two contact Sensor 63, the mechanical anticollision strip 64 for being set to 20 bottom periphery of car body, and it is set to the sound-light alarm at 20 top of car body Device and scram button.Combined aural and visual alarm and solid-state laser pathfinder 61, laser obstacle avoidance sensor 62, touch sensor 63 and Mechanical anticollision strip 64 is directly or indirectly electrically connected, with sending sound and/visual alarm.

Specifically, can be used for navigating using solid-state laser pathfinder 61, and cooperatively with servo motor measuring and calculating correction It navigates, belongs to trackless navigation mode, get rid of times of two-dimension code navigation, magnetic stripe navigation, the navigation of magnetic nail, reflecting plate laser navigation It is a kind of.Without laying or needing less ancillary equipment.

Solid-state laser pathfinder 61 is mounted in highest point, can play the role of obstacle avoidance sensor simultaneously.The solid-state laser is led The radar 61 that navigates can emit 16 line lasers to 270 degree of directions in same plane simultaneously, navigate when there is barrier to appear in solid-state laser When in 61 setting range of radar, controller board can make combined aural and visual alarm issue alarm signal, until parking.

Away from ground 150mm height, it is mounted with laser obstacle avoidance sensor 62, it can be in the elevation plane to 180 degree direction Emit laser.When there is barrier to appear in 62 setting range of laser obstacle avoidance sensor, controller board can make combined aural and visual alarm Alarm signal is issued, until parking.

One of 211 front end of prong base frame (i.e. the rear end of car body 20, the alternatively referred to as insertion end of prong base frame 211) Design has contact inductor.When contact inductor touches object, controller board can make combined aural and visual alarm issue alarm Signal stops simultaneously.It in some embodiments, can also (i.e. the rear end of car body 20 can also claim two 211 front ends of prong base frame For the insertion end of prong base frame 211) design have contact inductor.Can guarantee Mobyneb automated guided vehicle complete " into Enter pallet movement " when be safely operated, pallet fork rearmost design have safer contact, i.e. insertion end, all-plastic material is easy to install.

Car body 20 away from ground 25mm height at, it is mountable to have mechanical anticollision strip 64.When mechanical anticollision strip 64 touches When unknown object, controller board can make combined aural and visual alarm issue alarm signal, until parking.

Scram button is housed in roof, personnel can be reminded to take care.When Mobyneb automated guided vehicle goes out When existing dangerous threat or threat personal safety, scram button parking is pressed.In conclusion the Mobyneb of the application is led automatically Draw transport vehicle with five heavy safety devices.

Further, there are two first receiving spaces 212 for tool in each prong base frame 211, to accommodate two first respectively The part of driving device 33 and two driving wheels 31.With the resigning hole of resigning driving wheel 31 on each pallet 50.Car body Also there is two group of second accommodation space 213 on 20.Every group of second accommodation space 213 has at least two second accommodation spaces 213, And in second accommodation space of group 213, the second accommodation space of part 213 is in the rear side of a first receiving space 212, remaining The second accommodation space of part 213 is in the front side of a first receiving space 212.Moreover, each lifting device and corresponding Second driving device 41 is installed on second accommodation space 213.

Preferably, the load of the application can reach 1000Kg, it is desirable that the top lift of each lifting device should be greater than 1000kg.Simultaneously because the starting altitude of prong is less than 120mm, then the starting altitude of lifting device should be less than 80mm.For example, The starting altitude of each lifting device is 60mm to 80mm.Mechanical jack is directly controlled using motor in the application.Specifically, often A lifting device includes: the first supporting support 42, and the bottom end of the first supporting support 42 is rotatably installed on chassis 21, and first The lower end of supporting support 42 has the first teeth.The bottom end of second supporting support 43, the second supporting support 43 is rotatably mounted In chassis 21, and the lower end of the second supporting support 43 has the second teeth engaged with the first teeth.First movement block 44, first Movable block 44 is rotatably installed on the upper end of the first supporting support 42.And there is the first threaded hole on first movement block 44.The Two movable blocks 45, the second movable block 45 are rotatably installed on the upper end of the second supporting support 43.And second has on movable block 45 There is the second threaded hole.Third supporting support 46, the upper end of third supporting support 46 are rotatably installed on pallet 50, and lower end can It is rotatably mounted to first movement block 44.And the upper end of third supporting support 46 has third teeth.4th supporting support 47, the The upper end of four supporting supports 47 is rotatably installed on pallet 50, and lower end is rotatably installed on the second movable block 45, and the 4th The upper end of supporting support 47 has the 4th teeth engaged with third teeth.With, screw rod 48, screw rod 48 is horizontally disposed, and installs In the first threaded hole and the second threaded hole, to keep first movement block 44 and the second movable block 45 close to each other or remote in rotation From, and then rise or fall lifting device.And travel switch 49, it is set to the side of the first support frame 42, is configured Terminate to go up and down at signal when lifting device runs to extreme higher position and lowest position, is issued.The driving of second driving device 41 Screw rod 48 rotates.Mechanic jacks are directly controlled using motor, small in size but lift is big, and load is larger (reaching 1000kg or more), Keep the Mobyneb automated guided vehicle of the application more general.8 position sensors detect its position, and use bus skill Art guarantees 4 motor synchronous operations, thoroughly guarantees the synchronous operation of jacking.

When lifting device is 4, the front and rear sides of each first receiving space 212 all have the second accommodation space 213, The segment space of the second accommodation space 213 in front side in prong base frame 211, rest part space car body 20 other In regional space, due to special lifting device structure, the lifting of lifting device will not be interfered, and save space, Make compact-sized.In order to jack two pallets 50, it is necessary to design lifting body.Generally, common lifting body includes Hydraulic connecting rod mechanism, hydraulic jack, mechanical scissor lifting body, screw mechanism, mechanical jack etc..Due in pallet fork Space is limited, intermediate to be obstructed again by power assembly, so using four mechanical jacks, and realized and synchronized using bussing technique Lifting guarantees that cargo is steady.The utility model, as power, drives mechanic jacks, by motor rotary cutting using brushless motor The power of vertical direction is converted into power, bearing capacity is strong.

The assembling process of the Mobyneb automated guided vehicle of the application can be as follows:

A, after 21 tapping of bearing-type large chassis, respectively with the branch of screw installation vehicle drive system 30, universal wheel 32 Frame, contact inductor, column 22, car light, multiple spot jacking apparatus 40, automatic charging touch panel, laser obstacle avoidance sensor 62 branch Frame.

B, universal wheel 32 is installed from the lower section of 32 bracket of universal wheel.

C, solar panel, controller board, control boxboard and lamina tecti 23 are successively installed from bottom to top on column 22.

D, the flash lamp in solid-state laser pathfinder 61 and combined aural and visual alarm is installed.

E, electrical wiring.

F, pallet 50 is installed on multiple spot jacking apparatus 40.

G, assembly type sheet metal shell is finally installed.

In some specifically embodiments of the application, the vehicle overall length of the Mobyneb automated guided vehicle 1600mm, wide 700mm, 211 upper level of prong base frame are less than 110mm, prong length 1250mm, and overall width can be 230mm, Span width can be 200mm.Chassis 20 can be 10mm away from ground clearance.Further, also there is automatic charging mechanism and large capacity Battery.In house software can open communications protocol and port, can dock with other information free terminal, improve intelligent Application It is horizontal.Also there is stable IO point interface, it is convenient to be docked with various ancillary equipments.

The Mobyneb automated guided vehicle 90 degree can be carried out around center or 180 degree turns to, and makes turning half Diameter is zero, solves the problems, such as that fork truck modified type AGV turning radius is excessive.It can be used for carrying landing pallet, solve all The AGV of box sheet metal structural cannot directly carry the problem of landing pallet.One large cover is installed on pallet 50, so that it may It is used as jacking type AGV.Two lifting PIN are installed, so that it may as submarine AGV or tail portion dropper on prong base frame AGV is used.Drum conveyor is installed on prong base frame, so that it may use as drum-type AGV is born.It can freely install Go up and down the ancillary equipments such as PIN, drum conveyor.Navigation mode directly cooperates with pallet without ancillary equipment and laying object, realizes Implementation cost is installed to minimize.Using modular construction, standardized production may be implemented, it, can also be certainly to cost advantages are reduced Dynamic flow line production.Jacking weight reaches 1000kg, and walking load reaches 1000kg, meets the needs of most operating conditions.Fortune Row needs channel smaller, is conducive to improve utilization rate.Modular construction, it is easy to maintenance.A variety of safety devices are installed, is no less than and appoints The safety of what AGV.

Further, laser navigation renovation technique is carried out compared to typical conventional forklift.The utility model is using different Dynamic structure.The vehicle that typical conventional forklift carries out laser navigation renovation technique uses the dynamic structure of unilateral steering engine, Feature is power size not by space constraints, can be designed with heavy load；But the disadvantage is that turning radius can be very big, generally in steering wheel The heart and directional wheel center away from 1.2 times, it is even more impossible to realize from center to rotate.Meanwhile when retrogressing, it is difficult to realize high-precision and acts. The utility model emphasizes minimum turning radius, so dynamic structure uses 2 servo motor differential control structures, and is installed in narrow It inside small pallet fork, is rotated to realize from 90 degree of center or 180 degree, operation precision is smart by the revolution control walking of servo motor Degree, while guaranteeing that turning radius minimizes.

Further degree ground, the vehicle that typical conventional forklift carries out laser navigation renovation technique use steering engine as power. Steering engine is made of steering motor, driving motor and subsidiary body, and principle is that control steering motor completes driving motor assembly It turns to, then controls driving motor and realize walking.Therefore, general steering engine is used in the vehicle of relatively large load.The utility model is adopted Use encoder+servo motor+retarder+driving wheel+damping device as power assembly, working principle is total by two power At forward and reverse work, and accurately calculate the revolution of rotation to control the operation of car body.The utility model emphasizes power sky Between it is small, torque is big, and control is accurate.

Further, the vehicle of typical conventional forklift uses hydraulic cylinder+chain+gantry hoist+cantilevered pallet fork group At relatively large load can be lifted, and stroke is not also by space constraints.Lifting body need to be mounted on 110mm's high in the utility model Inside pallet fork, and centre is interrupted by power assembly, can only select four mechanical jacks, and control into synchronous using bussing technique System is just able to achieve jacking movement.It is limited by space, jacks stroke maximum no more than 100mm.

The vehicle of typical conventional forklift is using 2 directional wheels as driven wheel.The design (calculated) load is big, and failure rate is low.But Will lead to control precision it is low, turning radius is big.For the utility model using 4 universal wheels as driven wheel, height is low, controls precision Height turns to flexible.

The vehicle of typical conventional forklift, main force structure are body part and elevator part, and pallet gravity passes through Cantilever pallet fork acts on the car body, and car body self weight is relatively reused in balance, and steering engine stress is larger, causes failure rate higher.This is practical Novel to use balanced type chassis as main beaer, pallet gravity acts directly on 4 universal wheels, is self-possessed lighter.Power Driving wheel mainly passes through damping and acts on ground, and stress is small, and failure rate is low.

So far, although those skilled in the art will appreciate that the more of the utility model have been shown and described in detail herein A exemplary embodiment still, still can be according to the utility model public affairs in the case where not departing from the spirit and scope of the utility model The content opened directly determines or derives many other variations or modifications for meeting the utility model principle.Therefore, this is practical new The range of type is understood that and regards as to cover all such other variations or modifications.

Claims (7)

1. a kind of Mobyneb automated guided vehicle characterized by comprising

Car body, the car body have chassis, and there are two prongs disposed in parallel for the chassis tool；The insertion end of each prong For the rear end of the car body；And the pallet that each prong has prong base frame and is set on the upside of the prong base frame；

Vehicle drive system, tool is there are two driving wheel, multiple universal wheels and respectively drives the two of two driving wheels rotations A first driving device；The part of each driving wheel is located in the prong, and rest part extends downwardly the prong, And it is in the middle part along the longitudinal direction on the chassis；Multiple universal wheels are set to the bottom on chassis；Each described first Driving device has servo motor and retarder, is set in the prong, and the retarder connects the servo electricity Machine and a driving wheel；

Multiple spot jacking apparatus is set to the downside of two pallets, and the multiple spot jacking apparatus has multiple lifting devices And respectively drive the second driving device that multiple lifting devices carry out elevating movement；The downside of each pallet is arranged There are at least two lifting devices；With

Bus system is connected to multiple second driving devices, with multiple second driving devices of synchronously control, and then makes Multiple lifting device synchronization liftings.

2. Mobyneb automated guided vehicle according to claim 1, which is characterized in that further include:

Safe guiding device, the safe guiding device have the solid-state laser navigation at the top for the front end for being set to the car body Radar, be set to the car body front end lower part laser obstacle avoidance sensor, be set to one or two prong insert Enter one or two touch sensor at end, be set to the mechanical anticollision strip of the car body, and is set to car body top Combined aural and visual alarm and scram button；The combined aural and visual alarm and the solid-state laser pathfinder, the laser avoidance sense Device, the touch sensor and the mechanical anticollision strip are directly or indirectly electrically connected, with sending sound and/light alarm signal Number.

3. Mobyneb automated guided vehicle according to claim 1, which is characterized in that each lifting device packet It includes:

First supporting support, the bottom end of first supporting support are rotatably installed on the chassis, and first support The lower end of bracket has the first teeth；

Second supporting support, the bottom end of second supporting support are rotatably installed on the chassis, and second support The lower end of bracket has the second teeth engaged with first teeth；

First movement block, the first movement block are rotatably installed on the upper end of first supporting support；And described first There is the first threaded hole on movable block；

Second movable block, second movable block are rotatably installed on the upper end of second supporting support；And described second There is the second threaded hole on movable block；

The upper end of third supporting support, the third supporting support is rotatably installed on the pallet, and lower end is rotationally pacified Loaded on the first movement block；And the upper end of the third supporting support has third teeth；

The upper end of 4th supporting support, the 4th supporting support is rotatably installed on the pallet, and lower end is rotationally pacified Loaded on second movable block, and the upper end of the 4th supporting support has the 4th teeth engaged with the third teeth； With

Screw rod, the screw rod are horizontally disposed, and are installed on first threaded hole and second threaded hole, in rotation, Keep the first movement block and second movable block close to each other or separate, so make the lifting device carry out rise or under Drop；Second driving device drives the screw rod rotation.

4. Mobyneb automated guided vehicle according to claim 1, which is characterized in that

There is the resigning hole for the driving wheel of stepping down on each pallet.

5. Mobyneb automated guided vehicle according to claim 1, which is characterized in that

The universal wheel is 4, and two universal wheels are set to the front and rear sides of a driving wheel, described in other two Universal wheel is set to the front and rear sides of another driving wheel.

6. Mobyneb automated guided vehicle according to claim 1, which is characterized in that

The material on the chassis is 12mm ship plate；

The height of the lower surface on the chassis is 6mm to 10mm；The height of the upper surface of the pallet is 100mm to 120mm；

The starting altitude of each lifting device is 60mm to 80mm；

The diameter of each driving wheel is 80mm to 100mm.

7. Mobyneb automated guided vehicle according to claim 1, which is characterized in that

The car body further includes the column for being installed on the chassis front end, and is installed on the lamina tecti of the column top；And Solar panel, controller board and control boxboard are disposed on the column from bottom to top.