CN210235147U - Two-way formula AGV of hiding - Google Patents
Two-way formula AGV of hiding Download PDFInfo
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- CN210235147U CN210235147U CN201921189259.XU CN201921189259U CN210235147U CN 210235147 U CN210235147 U CN 210235147U CN 201921189259 U CN201921189259 U CN 201921189259U CN 210235147 U CN210235147 U CN 210235147U
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Abstract
The utility model discloses a bidirectional submarine AGV, which comprises an AGV frame and a frame cover plate, wherein the AGV frame comprises a head section, a body section and a tail section, and a driving device is arranged on the AGV frame; the frame cover plate is provided with a guide device; the guiding device comprises guiding mechanisms which are symmetrically arranged on two sides of a frame cover plate relative to the center of the moving direction of the AGV frame, each guiding mechanism comprises a guiding wheel mounting plate and guiding wheels, more than two guiding wheels are rotatably arranged on the guiding wheel mounting plates, and the outer side edges of the guiding wheels protrude out of the outer side surfaces of the guiding wheel mounting plates; utilize the utility model discloses a structure has the effect of rectifying when getting into or withdraw from goods shelves to AGV, reduces on AGV strikes goods shelves, better protection AGV and goods shelves.
Description
Technical Field
The utility model relates to a two-way formula AGV of hiding.
Background
AGV is an abbreviation for Automated Guided Vehicle, i.e., "Automated Guided Vehicle". An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions.
The existing AGV has a traction type, a hidden type and the like, and for the hidden type AGV, the AGV needs to be hidden below a goods shelf when transporting goods and then is inserted into the goods shelf through a lifting type traction rod to carry out traction transportation on the goods.
The existing hidden AGV mainly comprises a rack, a driving device arranged on the rack, universal wheels arranged on the rack and a lifting type traction rod arranged on the rack. When the AGV of this kind of structure entered into goods shelves below, if the skew appears in AGV's movement track, AGV then strikes the both sides of goods shelves easily, and causes AGV or goods shelves to appear the problem of damaging, lets the goods on the goods shelves appear rocking easily moreover.
Disclosure of Invention
The utility model aims at providing a two-way formula AGV that hides utilizes the utility model discloses a structure has the effect of rectifying when getting into or withdraw from goods shelves to AGV, reduces on AGV strikes goods shelves, better protection AGV and goods shelves, and AGV stability is good.
In order to achieve the purpose, the bidirectional submarine AGV comprises an AGV frame and a frame cover plate, wherein the AGV frame comprises a head section, a body section and a tail section, and a driving device is arranged on the AGV frame; the frame cover plate is provided with a guide device; the guiding device comprises guiding mechanisms which are symmetrically arranged at two sides of a cover plate of the machine frame relative to the center of the moving direction of the AGV frame, the guiding mechanisms comprise guiding wheel mounting plates and guiding wheels, more than two guiding wheels are rotatably arranged on the guiding wheel mounting plates, the outer side edges of the guiding wheels protrude out of the outer side surfaces of the guiding wheel mounting plates,
the AGV frame comprises more than two sections of cover plate supporting pieces which are sequentially arranged along the AGV moving direction and used for supporting frame cover plates, the cover plate supporting pieces are arranged between adjacent frame cover plates, one side of each cover plate supporting piece, which is close to the AGV frame body section, is provided with a supporting piece, and the upper surface of each cover plate supporting piece is flush with the upper surface of the corresponding supporting piece;
the cover plate supporting piece comprises a first transverse plate, a second transverse plate and a third transverse plate, a first vertical plate and a second vertical plate which are vertically arranged, two ends of the first vertical plate are respectively connected with one end of the first transverse plate and one end of the second transverse plate, two ends of the second vertical plate are respectively connected with the other end of the second transverse plate and one end of the third transverse plate, the second transverse plate, the first vertical plate and the second vertical plate form an opening space, the supporting piece comprises a first elastic supporting plate, a second elastic supporting plate and a third elastic supporting plate, and the second elastic supporting plate covers the opening space.
In the structure, because the two sides of the upper cover of the frame are respectively provided with the guide mechanisms, each guide mechanism comprises the guide wheel, the outer edge of each guide wheel protrudes out of the outer side surface of the guide wheel mounting plate, when the AGV enters or exits the goods shelf, under the guiding action of the guide wheels, the guiding deviation rectification can be carried out on the motion trail of the AGV, the AGV can accurately enter the lower part of the goods shelf or exit from the lower part of the goods shelf, the collision of the AGV on the goods shelf is reduced, the AGV and the goods shelf are better protected, because the cover plate supporting piece is arranged between the adjacent frame cover plates, and the supporting piece is arranged at one side of the cover plate supporting piece of the vehicle body section, the cover plate supporting piece is a hollow structure with a middle bulge and two lower sides, and support piece covers on hollow structure, can lighten the weight of apron support piece like this and cover on hollow structure through the elastic component simultaneously, reinforcing automobile body section supports intensity, improves AGV's stability.
Furthermore, the guide wheel mounting plate is provided with mounting holes, and the mounting holes are waist-shaped holes extending along two sides of the AGV frame. Therefore, the positions of the two sides of the guide wheel mounting plate can be adjusted, so that the purpose of adjusting the positions of the guide wheels is achieved, and the guide wheel mounting plate is suitable for goods shelves of different models.
Further, the frame cover plate comprises more than two sections of frame cover plate units which are sequentially arranged along the AGV moving direction, the guide wheel mounting plates comprise guide wheel mounting plate units which are twice as many as the frame cover plate units, and the guide wheel mounting plate units are respectively mounted on two sides of each frame cover plate unit. Like this, conveniently dismantle each frame apron unit alone, conveniently to inside installation, dismantlement and the maintenance of AGV.
Furthermore, the middle part of the frame cover plate protrudes upwards to be higher than the left end and the right end of the frame cover plate.
Furthermore, the side surfaces of the front end and the rear end of the guide wheel mounting plate are respectively provided with a guide plane, and guide angles are formed by the guide planes towards the left end and the right end in an inclined mode. The guiding angle can play a role in pre-guiding the AGV to enter or exit the frame.
Furthermore, grooves are respectively arranged at the two ends of the AGV frame below the frame cover plate, infrared sensors are arranged in the middle of the grooves, and magnetic seeking sensors positioned below the infrared sensors are respectively arranged at the end parts of the head section and the tail section; and the bottom of the automobile body section is provided with an RFID sensor.
Furthermore, universal wheels are respectively arranged at the bottoms of the head section and the tail section.
Furthermore, anti-collision fences are respectively arranged below the infrared sensors on the head section and the tail section of the vehicle.
Furthermore, the driving device comprises an upper shock absorbing seat, a lower shock absorbing seat, a hinge seat and a second gas spring, the hinge seat is arranged on the bottom plate of the AGV frame, one side of the lower shock absorbing seat is hinged with the hinge seat, and the other side of the lower shock absorbing seat is connected with the upper shock absorbing seat through the second gas spring; the driving device further comprises a driving motor, a speed reducer and a driving wheel, an output shaft of the driving motor is connected with an input shaft of the speed reducer, the driving wheel is installed on an output shaft of the speed reducer, the speed reducer is connected with the side face of the lower shock absorbing seat, and the driving wheel is arranged in the lower shock absorbing seat.
Drawings
FIG. 1 is a perspective view of a two-way latent AGV.
FIG. 2 is a top view of a two-way latent AGV.
FIG. 3 is a perspective view of another perspective of a two-way latent AGV.
FIG. 4 is an exploded view of a two-way latent AGV.
Fig. 5 is a sectional view taken along the plane B-B in fig. 2.
FIG. 6 is a schematic view of a two-way latent AGV with a side cover removed.
Fig. 7 is a schematic view of a driving device.
Fig. 8 is a schematic structural view of the middle lifting type traction device of the present invention.
Fig. 9 is a top view of the middle lifting type traction device of the present invention.
Fig. 10 is a sectional view taken along the plane a-a in fig. 9.
FIG. 11 is a partial enlarged view of C in FIG. 5;
fig. 12 is an exploded view of the cover plate supporting member and the supporting member according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-6 and 11-12, the bidirectional submarine AGV includes an AGV frame 1, a frame cover 2, a driving device 3, an elevating traction device 4, and a guide device 5.
The cover plate support 6 comprises a first transverse plate 601, a second transverse plate 602, a third transverse plate 603 and a first vertical plate 604 and a second vertical plate 605, wherein the first transverse plate 601, the second transverse plate 602 and the third transverse plate 603 are horizontally arranged, the first vertical plate 604 and the second vertical plate 605 are vertically arranged, two ends of the first vertical plate 604 are respectively connected with one end of the first transverse plate 601 and one end of the second transverse plate 602, and two ends of the second vertical plate 605 are respectively connected with the other end of the second transverse plate 602 and one end of the third transverse plate 603. The second transverse plate 602, the first vertical plate 604 and the second vertical plate 605 form an open space. The support 61 includes a first elastic support plate 611, a second elastic support plate 612, and a third elastic support plate 613, and the second elastic support plate 612 covers the open space.
The frame cover 2 comprises more than two sections of frame cover units 21 which are sequentially arranged along the AGV moving direction, the frame cover 2 is arranged at the top of the AGV frame, the two sides of the frame cover units 21 are bent downwards and then are bent outwards to extend, and mounting positions 22 are formed on the upper surfaces of the two sides of the frame cover units. Frame apron 2 matches with 6 shapes of apron support piece, and apron support piece 6 has the supporting role to frame apron 2, can alleviate the pressure that frame apron 2 both ends are connected at the AGV frame, increase of service life. The cross-section of the deck support 6 is rectangular and the length of the cross-section of the deck support 6 is greater than the length of the gap between adjacent deck units 21. The deck support 6 thus better supports the frame deck 2. A support 61 is provided on the deck support 6 of the AGV frame body section. As shown in fig. 11, d is the length direction of the height of the support 61, and h is the length of the support in the width direction. The length of the height of the supporting member 61 is greater than the length of the width, so that the supporting property of the supporting member 61 can be improved, and the supporting member 61 can be better connected with the cover supporting member 6. The support member 61 increases the contact area between the cover support member 6 and the frame cover 2, and further increases the supporting force for the frame cover 2. When the frame cover plate is pressed from top to bottom, the supporting piece 61 has a certain buffering effect on the frame cover plate 2, and the frame cover plate 2 is effectively prevented from being broken. The deck support 6 also provides support for the guides 5, and when the AGV needs to be guided by the guides 5, the guides 5 will contact external objects, and the force will be fed back to the guides 5 and transmitted to the frame deck 2. The cover plate supporting piece 6 can strengthen the supporting strength of the frame cover plate 2.
Two sides of the AGV frame 1 perpendicular to the AGV advancing direction are respectively provided with a set of driving device 3. As shown in fig. 7, the driving device 3 includes an upper shock absorbing seat 31, a lower shock absorbing seat 32, a hinged seat 33 and a second gas spring 34, the hinged seat 33 is disposed on the bottom plate, one side of the lower shock absorbing seat 32 is hinged to the hinged seat 33, the other side of the lower shock absorbing seat 32 is connected to the upper shock absorbing seat 31 through the second gas spring 34, the upper shock absorbing seat 31 is installed on the AGV frame 1, the driving device further includes a driving motor 35, a speed reducer 36 and a driving wheel 37, an output shaft of the driving motor 35 is connected to an input shaft of the speed reducer 36, the driving wheel 37 is installed on an output shaft of the speed reducer 36, the speed reducer 36 is connected to a side surface of the lower shock absorbing seat 32, and the driving wheel.
An elevating traction device 4 is arranged on the AGV frame 1 between two driving devices, as shown in figures 8 to 10, the elevating traction device 4 comprises a traction pin bracket 41 arranged on the bottom plate 11, a traction pin motor 42 is arranged on the side wall of the traction pin bracket 41, the output shaft of the traction pin motor 42 extends into the traction pin bracket 41, a driving disc 43 is arranged on the output shaft of the traction pin motor 42, a driving roller 44 is arranged at the position of the driving disc 43 deviating from the center of the driving disc 43, a traction pin sleeve 45 is vertically arranged at the top of the traction pin bracket 41, a pulling pin 46 is slidably provided in the pulling pin boss 45, a driving plate 47 is provided at the bottom of the pulling pin 46, the driving plate 47 is provided below the driving roller 44, a first air spring 48 is arranged between the traction pin 46 and the bottom plate 11, and a vertical waist-shaped groove 49 is arranged on one side of the traction pin bracket 41 opposite to the side where the traction pin motor 42 is arranged; a driving lever 410 penetrating through the waist-shaped groove 49 is arranged on the driving plate 47, and a bearing 411 is arranged on the driving lever 410; two sides of the waist-shaped groove 49 are respectively provided with a limit switch 412, the two limit switches 412 have height difference in the vertical direction, and the first air spring 48 has gentle moving speed, so that the traction pin motor 42 is uniformly stressed, the precision of the traction pin motor 42 can be effectively maintained, and the service life of the traction pin motor 42 can be prolonged.
The first air spring 48 and the second air spring 34 can make appropriate response according to the vibration transmitted by the wheels when the AGV trolley bumps and vibrates, so that the nonlinear elastic change characteristic of a common spiral spring is overcome, and the back-and-forth vibration is reduced; in addition, because the movement speed of the gas spring is gentle, the driving motor 35 and the traction pin motor 42 are stressed uniformly, the precision of the driving motor 35 and the traction pin motor 42 can be effectively kept, and the service life of the driving motor 35 and the service life of the traction pin motor 42 can be prolonged.
As shown in fig. 1 to 6, the guiding device 5 includes guiding mechanisms 50 symmetrically disposed on both sides of the frame cover with respect to the center of the AGV frame moving direction, the guiding mechanisms include a guiding wheel mounting plate 51 and a guiding wheel 52, two or more guiding wheels 52 are rotatably mounted on the guiding wheel mounting plate 51 by a pin, and the outer edges of the guiding wheels 52 protrude out of the outer side surfaces of the guiding wheel mounting plate 51. The guide wheel mounting plate 51 is provided with mounting holes 511, and the mounting holes 511 are waist-shaped holes extending along both sides of the AGV frame. The guide wheel mounting plates 51 comprise guide wheel mounting plate units 512 which are twice as many as the frame cover plate units, each guide wheel mounting plate unit is provided with a mounting hole and a guide wheel, and the guide wheel mounting plate units 512 are mounted on mounting positions of each frame cover plate unit through bolts penetrating through the mounting holes respectively. The side surfaces of the front end and the rear end of the guide wheel mounting plate are respectively provided with a guide plane 513, and guide angles are formed by the guide planes towards the left end and the right end in an inclined mode. The guiding angle can play a role in pre-guiding the AGV to enter or exit the frame. When the AGV enters the frame and deviates, the outer edge of the guide wheel 52 protrudes out of the outer side surface of the guide wheel mounting plate 51, the guide wheel 52 can be in contact friction with the frame, and the AGV can move forward along the friction direction to adjust the vehicle body.
Grooves are respectively arranged at the two ends of the AGV frame 1 in the lower direction of the frame cover plate, the middle part of each groove is provided with an infrared sensor 12, and the end parts of the head section and the tail section are respectively provided with a magnetic seeking sensor 13 positioned below the infrared sensors; the bottom of the body section is provided with an RFID sensor 14.
And anti-collision fences are respectively arranged below the infrared sensors on the head section and the tail section.
Above-mentioned structure, because the both sides at the frame upper cover have set up guiding mechanism respectively, guiding mechanism includes the leading wheel, the outside edge protrusion in the lateral surface of leading wheel mounting panel of leading wheel, like this, AGV is when getting into or withdraw from goods shelves, under the guiding action of leading wheel, can lead to rectifying to AGV's movement track, let AGV accuracy enter into goods shelves below or withdraw from goods shelves below, reduce on AGV strikes goods shelves, better protection AGV and goods shelves. The positions of two sides of the guide wheel mounting plate can be adjusted through the waist-shaped holes, so that the purpose of adjusting the positions of the guide wheels is achieved, and the guide wheel mounting plate is suitable for goods shelves of different models. Adopt the frame apron unit and the leading wheel mounting panel unit of sectional type, each frame apron unit is conveniently dismantled alone, conveniently to inside installation, dismantlement and the maintenance of AGV. The guide plane can play a role in pre-guiding the AGV to enter or exit the frame.
Claims (9)
1. A bidirectional submarine AGV comprises an AGV frame and a frame cover plate, wherein the AGV frame comprises a head section, a body section and a tail section, and a driving device is arranged on the AGV frame; the method is characterized in that: the frame cover plate is provided with a guide device;
the guiding device comprises guiding mechanisms which are symmetrically arranged on two sides of a frame cover plate relative to the center of the moving direction of the AGV frame, each guiding mechanism comprises a guiding wheel mounting plate and guiding wheels, more than two guiding wheels are rotatably arranged on the guiding wheel mounting plates, and the outer side edges of the guiding wheels protrude out of the outer side surfaces of the guiding wheel mounting plates;
the AGV frame comprises more than two sections of cover plate supporting pieces which are sequentially arranged along the AGV moving direction and used for supporting frame cover plates, the cover plate supporting pieces are arranged between adjacent frame cover plates, one side of each cover plate supporting piece, which is close to the AGV frame body section, is provided with a supporting piece, and the upper surface of each cover plate supporting piece is flush with the upper surface of the corresponding supporting piece;
the cover plate supporting piece comprises a first transverse plate, a second transverse plate and a third transverse plate, a first vertical plate and a second vertical plate which are vertically arranged, two ends of the first vertical plate are respectively connected with one end of the first transverse plate and one end of the second transverse plate, two ends of the second vertical plate are respectively connected with the other end of the second transverse plate and one end of the third transverse plate, the second transverse plate, the first vertical plate and the second vertical plate form an opening space, the supporting piece comprises a first elastic supporting plate, a second elastic supporting plate and a third elastic supporting plate, and the second elastic supporting plate covers the opening space.
2. A bidirectional latent AGV according to claim 1, further comprising: be equipped with the mounting hole on the leading wheel mounting panel, the mounting hole is the waist type hole that extends along AGV frame both sides.
3. A bidirectional latent AGV according to claim 1, further comprising: the frame cover plate comprises more than two sections of frame cover plate units which are sequentially arranged along the AGV moving direction, the guide wheel mounting plates comprise guide wheel mounting plate units which are twice as many as the frame cover plate units, and the guide wheel mounting plate units are respectively mounted on two sides of each frame cover plate unit.
4. A bidirectional latent AGV according to claim 1, further comprising: the middle part of the frame cover plate protrudes upwards to be higher than the left end and the right end of the frame cover plate.
5. A bidirectional latent AGV according to claim 1, further comprising: the side surfaces of the front end and the rear end of the guide wheel mounting plate are respectively provided with a guide plane, and the guide planes are inclined towards the left end and the right end to form guide angles.
6. A bidirectional latent AGV according to claim 1, further comprising: grooves are respectively arranged at the two ends of the AGV frame below the frame cover plate, infrared sensors are arranged in the middle of the grooves, and magnetic seeking sensors positioned below the infrared sensors are respectively arranged at the end parts of the head section and the tail section of the AGV frame; and the bottom of the automobile body section is provided with an RFID sensor.
7. A bidirectional latent AGV according to claim 1, further comprising: the bottoms of the head section and the tail section are respectively provided with universal wheels.
8. A bidirectional latent AGV according to claim 1, further comprising: and anti-collision fences are respectively arranged below the infrared sensors on the head section and the tail section.
9. A bidirectional latent AGV according to claim 1, further comprising: the driving device comprises an upper shock absorbing seat, a lower shock absorbing seat, a hinge seat and a second gas spring, the hinge seat is arranged on a bottom plate of the AGV frame, one side of the lower shock absorbing seat is hinged with the hinge seat, and the other side of the lower shock absorbing seat is connected with the upper shock absorbing seat through the second gas spring; the driving device further comprises a driving motor, a speed reducer and a driving wheel, an output shaft of the driving motor is connected with an input shaft of the speed reducer, the driving wheel is installed on an output shaft of the speed reducer, the speed reducer is connected with the side face of the lower shock absorbing seat, and the driving wheel is arranged in the lower shock absorbing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921189259.XU CN210235147U (en) | 2019-07-25 | 2019-07-25 | Two-way formula AGV of hiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921189259.XU CN210235147U (en) | 2019-07-25 | 2019-07-25 | Two-way formula AGV of hiding |
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| Publication Number | Publication Date |
|---|---|
| CN210235147U true CN210235147U (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921189259.XU Active CN210235147U (en) | 2019-07-25 | 2019-07-25 | Two-way formula AGV of hiding |
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| CN (1) | CN210235147U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379671A (en) * | 2021-11-23 | 2022-04-22 | 安徽仓擎机器人有限公司 | Mixed operation device of dull and stereotyped intelligent carrier in harbour |
| CN114988044A (en) * | 2022-06-22 | 2022-09-02 | 中联重科股份有限公司 | Automatic positioning method based on transportation system |
-
2019
- 2019-07-25 CN CN201921189259.XU patent/CN210235147U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114379671A (en) * | 2021-11-23 | 2022-04-22 | 安徽仓擎机器人有限公司 | Mixed operation device of dull and stereotyped intelligent carrier in harbour |
| CN114988044A (en) * | 2022-06-22 | 2022-09-02 | 中联重科股份有限公司 | Automatic positioning method based on transportation system |
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