CN210236214U

CN210236214U - Unmanned carrying vehicle

Info

Publication number: CN210236214U
Application number: CN201920799704.8U
Authority: CN
Inventors: Wentian Bai; 柏文天
Original assignee: China Craftsman Robot Shenzhen Co ltd
Current assignee: China Craftsman Robot Shenzhen Co ltd
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-04-03
Anticipated expiration: 2029-05-29

Abstract

The utility model belongs to the field of mobile robots, and relates to an unmanned carrying vehicle, which comprises a mobile main body, a lifting component arranged on the mobile main body in a sliding way and a control box arranged on one side of the mobile main body, wherein the control box is connected with the lifting component, and a steering wheel mechanism for driving the mobile main body to move is also arranged in the control box; a gyroscope, a controller, a motor driver, a steering wheel mechanism and a laser sensor are arranged in the control box; the controller is respectively connected with the motor driver, the gyroscope and the laser sensor; the motor driver is respectively connected with the lifting assembly and the steering wheel mechanism; the mobile main body is also provided with a touch screen and a camera, and the touch screen and the camera are respectively connected with the controller; and the unmanned transport vehicle is also provided with a battery for supplying power to each component. The invention can realize the safe driving of the unmanned carrier and realize the automation, safety and high efficiency of the carrying operation in places such as factories and the like.

Description

Unmanned carrying vehicle

Technical Field

The utility model belongs to the technical field of mobile robot, a unmanned transport vehicle is related to.

Background

Material handling is an important task in modern industry and service industry, and at present, the handling process is mainly realized by manual operation. In recent years, due to the rising of labor cost, the automation, informatization and intelligence levels of a factory cannot meet the development requirements of the industry, and the manual carrying efficiency is low, so that the operation is easy to miss. At present, equipment such as a forklift is applied to factory carrying operation, but the equipment is still driven by people, and the problem of misoperation still exists.

Disclosure of Invention

An object of the utility model is to provide an automated control's unmanned transport vehicle to prior art not enough.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an unmanned transport vehicle, includes and removes main part, slidable mounting in remove the lift subassembly on the main part and set up the control box in removing main part one side, the control box is connected with the lift subassembly, remove main part one side and still be equipped with the steering wheel mechanism that the drive removed the main part and march.

Furthermore, a controller and a gyroscope for feeding back the moving direction of the moving body are further arranged in the control box, and the controller is respectively connected with the gyroscope and the steering wheel mechanism.

Furthermore, the steering wheel mechanism comprises a driving wheel, a driving motor for controlling the driving wheel to move forwards, a steering motor for controlling the driving wheel to steer and a transmission gear connected among the driving motor, the steering motor and the driving wheel.

Further, still install the camera on the removal main part, the camera is connected with the controller.

Furthermore, a motor driver is arranged in the control box, the motor driver is respectively connected with the lifting assembly, the driving motor and the steering motor, and the motor driver is connected with the controller.

Furthermore, the lifting assembly comprises a lifting platform and a lifting mechanism for driving the lifting platform to lift, and the lifting mechanism is connected with the motor driver.

Further, the automated guided vehicle is further provided with a laser sensor, and the laser sensor is connected with the controller.

Further, a touch screen is further arranged on the moving body and connected with the controller.

Further, the automated guided vehicle further comprises a battery for supplying power to each component in the controller.

Further, a driven wheel component matched with the driving wheel is arranged below the moving body.

The utility model has the advantages that:

the utility model is provided with a controller, combines a camera and a gyroscope to acquire the traveling information of the automatic guided vehicle, and realizes the adjustment of the traveling reverse phase of the automatic guided vehicle by adjusting the driving mechanism; the laser sensor can detect the distance of obstacles around the automatic guided vehicle, and the automatic guided vehicle can avoid impacting the obstacles.

Drawings

FIG. 1 is a schematic view of an automated guided vehicle;

fig. 2 is a schematic view of the internal structure of the control box.

The labels in the figure are: the system comprises a mounting frame 1, a lifting table 2, a base 3, a control box 4, a touch screen 5, a camera 6, a controller 7, a battery 8, a gyroscope 9, a laser sensor 10, a motor driver 11, a steering wheel mechanism 12, a driving motor 1201, a driving wheel 1202, a first driven wheel 1301 and a second driven wheel 1302.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1, in an embodiment, there is provided an automated guided vehicle, which includes a moving body, a lifting assembly slidably mounted on the moving body, and a control box 4 disposed at one side of the moving body, wherein the control box 4 is connected to the lifting assembly, and a steering wheel mechanism 12 for driving the moving body to move is further disposed in the control box 4. In an embodiment, the mobile body comprises a base 3 and a mounting frame 1 fixed on the base 3; the mounting rack 1 is vertically arranged at one end of the base 3. In an embodiment, the lifting assembly comprises a lifting platform 2 and a lifting mechanism for driving the lifting platform 2 to lift; the lifting platform 2 is slidably mounted on the mounting frame 1, and the lifting mechanism is mounted at one end of the mounting frame 1 and matched with a chain wheel and a chain on the mounting frame 1 to realize the function of lifting the lifting platform 2; in this embodiment, hoist mechanism includes servo motor and the speed reducer that the transmission is connected, the speed reducer output is connected with the sprocket, is connected with driven chain between this sprocket and the sprocket on the mounting bracket 1, elevating platform 2 is connected with the chain, drives elevating platform 2 by the chain and realizes raising and lowering functions.

In other embodiments, the lifting mechanism comprises a hydraulic lifting mechanism, and the lifting platform 2 is driven by the hydraulic lifting mechanism to realize a lifting function.

Referring to fig. 2, in the embodiment, the control box 4 is fixedly installed on the side of the mounting frame 1 far away from the lifting platform 2. The control box 4 is internally provided with a controller 7, a gyroscope 9, a motor driver 11 and a steering wheel mechanism 12; the controller 7 is electrically connected with the motor driver 11 and the gyroscope 9 respectively; the motor driver 11 is respectively and electrically connected with the steering wheel mechanism 12 and the lifting mechanism of the lifting assembly; the controller 7 controls the operation of the lifting assembly and the steering wheel mechanism 12; the steering wheel mechanism 12 is used for driving the unmanned transport vehicle to turn and advance.

In an embodiment, the steering wheel mechanism 12 includes a driving wheel 1202, a driving motor 1201 for controlling the driving wheel 1202 to travel, and a steering motor (not shown) for controlling the steering of the driving wheel 1202, and the driving motor 1201 and the steering motor (not shown) are respectively connected to the motor driver 11, thereby controlling the driving wheel 1202 to travel and steer. Correspondingly, a driven wheel assembly which follows the driving wheel 1202 to travel is arranged at the bottom of the base 3; the driven wheel assembly comprises a first driven wheel 1301 arranged close to the driving wheel 1202 and a second driven wheel 1302 arranged at one end of the base 3 far away from the driving wheel 1202; in an embodiment, the first driven wheel 1031 is a universal wheel, and the second driven wheel 1302 is a directional wheel; when the automatic guided vehicle moves forward, the automatic guided vehicle can move forward more stably and smoothly under the matching of the driven wheel component.

In the embodiment, a camera 6 for acquiring picture information is further arranged on the mounting rack 1; in the embodiment, two cameras 6 are respectively arranged on two sides of the mounting rack 1 and used for collecting images around the unmanned conveying vehicle; the camera 6 is electrically connected with the controller 7, and transmits the shot picture information to the controller 7. In actual use, in a carrying site, a user can paste corresponding marks on a traveling route and a stop point of the unmanned carrying vehicle, the camera 6 is used for photographing and collecting images, the image information is sent to the controller 7, the controller 7 processes the obtained image information and the information of the gyroscope 9, and therefore the unmanned carrying vehicle is controlled to travel according to a planned established route, namely the controller 7 controls the steering wheel mechanism 12 to operate after position information is obtained.

In other embodiments, the automated guided vehicle may be provided with three, four, or other numbers of cameras 6 to collect road sign information around the automated guided vehicle, and the specific number may be set according to factors such as the size of the automated guided vehicle and the actual use situation.

In an embodiment, the automated guided vehicle is further provided with a laser sensor 10 for detecting obstacles around the automated guided vehicle; in this embodiment, two sides of the control box 4 are both provided with a laser sensor 10, and the laser sensors 10 are electrically connected with the controller 7; when the laser sensor 10 detects a front obstacle and sends corresponding information to the controller 7, the controller 7 judges whether the automated guided vehicle is to perform a deceleration action or an action of immediately stopping and giving an alarm according to the distance information of the obstacle, so as to prevent the automated guided vehicle from colliding with the obstacle.

In other embodiments, the number of the laser sensors 10 may be determined according to field requirements, the size of the automated guided vehicle, and the like, and may be three, four, or other numbers, and the installation position of the laser sensors 7 may be determined according to specific requirements.

In the embodiment, the mounting rack 1 is further provided with a touch screen 5, and the touch screen 5 is connected with a controller 7; the touch screen 5 can display various working parameters of the automatic guided vehicle so as to be checked by a user, and meanwhile, the user can also operate the automatic guided vehicle through the touch screen 5 so as to ensure the normal operation of the automatic guided vehicle.

In an embodiment, the automated guided vehicle further comprises a battery 8 for powering the components within the controller 7; the battery 8 is electrically connected with the controller 7 to supply power to the automatic guided vehicle; in the embodiment, the battery 8 is installed in the control box 4.

In other embodiments, the battery 8 may be separately installed outside the control box 4.

The above-mentioned embodiments are only one of the preferred embodiments of the present invention, and the ordinary changes and substitutions performed by those skilled in the art within the technical scope of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated guided vehicle, includes moving the main part, slidable mounting moves the subassembly and sets up in the control box (4) that moves main part one side on moving the lifting component on the main part, its characterized in that: the control box (4) is connected with the lifting assembly, and a steering wheel mechanism (12) for driving the moving body to move is further arranged on one side of the moving body.

2. The automated guided vehicle according to claim 1, wherein: and a controller (7) and a gyroscope (9) for feeding back the moving direction of the moving body are further arranged in the control box (4), and the controller (7) is respectively connected with the gyroscope (9) and the steering wheel mechanism (12).

3. The automated guided vehicle according to claim 1 or 2, wherein: the steering wheel mechanism (12) comprises a driving wheel (1202), a driving motor (1201) for controlling the driving wheel (1202) to move forwards, a steering motor for controlling the driving wheel (1202) to steer and a transmission gear connected between the driving motor (1201) and the steering motor and the driving wheel (1202).

4. The automated guided vehicle according to claim 1 or 2, wherein: still install camera (6) on the removal main part, camera (6) are connected with controller (7).

5. The automated guided vehicle according to claim 1, wherein: the control box (4) is internally provided with a motor driver (11), the motor driver (11) is respectively connected with the lifting assembly, the driving motor (1201) and the steering motor, and the motor driver (11) is connected with the controller (7).

6. The automated guided vehicle according to claim 1, wherein: the lifting assembly comprises a lifting platform (2) and a lifting mechanism for driving the lifting platform (2) to lift, and the lifting mechanism is connected with a motor driver (11).

7. The automated guided vehicle according to claim 1, wherein: the automatic guided vehicle is further provided with a laser sensor (10), and the laser sensor (10) is connected with the controller (7).

8. The automated guided vehicle according to claim 1, wherein: the mobile body is further provided with a touch screen (5), and the touch screen (5) is connected with a controller (7).

9. The automated guided vehicle according to claim 1, wherein: the automated guided vehicle further comprises a battery (8) for supplying power to each component in the controller (7).

10. The automated guided vehicle according to claim 1, wherein: a driven wheel assembly matched with a driving wheel (1202) is arranged below the moving body.