CN210284451U

CN210284451U - Modular multifunctional AGV

Info

Publication number: CN210284451U
Application number: CN201921374115.1U
Authority: CN
Inventors: 谢成宇; 李丽双; 徐东冬; 程胜; 张建伟
Original assignee: Ksitri Intelligent Manufacturing Technology Co ltd
Current assignee: Ksitri Intelligent Manufacturing Technology Co ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2020-04-10
Anticipated expiration: 2029-08-22

Abstract

The utility model discloses a modular multifunctional AGV, which comprises a mobile base, a traction module and a bearing module; the movable base comprises a base body; the traction module is detachably arranged on the seat body and comprises a module seat and a traction column which can do controllable telescopic motion relative to the module seat; the bearing module is detachably arranged on the seat body and can do lifting motion relative to the seat body, and the lifting motion of the bearing module is driven by the telescopic motion of the traction column. The utility model discloses a multi-functional AGV of modular can for through setting up the pedestal dismantle the traction module of changing with bear the module for AGV can switch between the AGV form of traction type AGV and two kinds of mainstream of bearing type AGV, makes AGV can satisfy more user demands, and has established the linkage relation of traction module with bear the module through pulling the post under bearing type AGV form, reducible driving power piece quantity, make the structure retrench, reduce cost.

Description

Modular multifunctional AGV

Technical Field

The utility model relates to a AGV technical field especially relates to a multi-functional AGV of modular.

Background

Since the first AGV in the world came birth in 1953, through the development of nearly 70 years, the AGV has been developed in a long time in the world, mainly manifested as the application market is continuously widened, the technical performance is continuously improved, and the participation amount of enterprises is also continuously increased. Along with the continuous expansion of AGV application scene, the scene that AGV will face is also more and more, also higher and more to adaptability, the functional diversity requirement of AGV itself. Present AGV working method mainly has formula of hiding and towed, and the AGV that nevertheless can satisfy multi-scene and use is few again, and the largest AGV has heavy backpack AGV on the current market, heavy towed AGV etc. generally this type of AGV function singleness can only realize a certain specific demand, can not satisfy more scenes to AGV's demand.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the deficiencies in the prior art, the utility model provides a multi-functional AGV of modular with modular design, can satisfy many scenes demand.

The technical scheme is as follows: to achieve the above object, the utility model discloses a multi-functional AGV of modular, include:

a mobile base comprising a base body;

the traction module is detachably arranged on the seat body and comprises a module seat and a traction column which can do controllable telescopic motion relative to the module seat; and

the bearing module is detachably arranged on the seat body, can do lifting motion relative to the seat body, and the lifting motion of the bearing module is driven by the telescopic motion of the traction column.

Further, the traction module also comprises an electric push rod and a first linear bearing which are arranged on the module seat; the traction column is in sliding fit with the first linear bearing, and the electric push rod is in driving connection with the traction column.

Furthermore, the bearing module comprises a lifting seat, and the upper end of the traction column is fixed on the lifting seat.

Furthermore, a plurality of second linear bearings are installed on the module seat, and guide columns which correspond to the second linear bearings one to one and are in sliding fit with the second linear bearings are arranged on the lifting seat.

Furthermore, there are two groups of traction modules, and the two groups of traction modules are symmetrically arranged on the front side and the rear side of the seat body.

Further, the traction column can be disassembled and replaced.

Further, the back side of the lifting seat is provided with an accessory installation interface.

Furthermore, the movable base further comprises two driving wheels symmetrically arranged on two sides of the middle of the base body, and a plurality of driven wheels are respectively arranged on the front side and the rear side of the base body.

Furthermore, still install detection sensor group and the control unit on the mobile base, each sensor that detection sensor group contains all with the control unit electricity is connected.

Further, the overlooking profile of pedestal is the square, survey sensor group including setting up two laser radar at a diagonal both ends of pedestal, the pedestal is provided with the round groove of stepping down that supplies the laser to pass through.

Has the advantages that: the utility model discloses a multi-functional AGV of modular can for through setting up the pedestal dismantle the traction module of changing with bear the module for AGV can switch between the AGV form of traction type AGV and two kinds of mainstream of bearing type AGV, makes AGV can satisfy more user demands, and has established the linkage relation of traction module with bear the module through pulling the post under bearing type AGV form, reducible driving power piece quantity, make the structure retrench, reduce cost.

Drawings

FIG. 1 is a block diagram of a modular multi-functional AGV;

FIG. 2 is an exploded view of a modular multi-functional AGV;

fig. 3 is a block diagram of a traction module.

The names of the parts indicated by the reference numerals in the drawings are as follows:

1-moving the base; 11-a seat body; 12-a driving wheel; 13-a driven wheel; 2-a traction module; 21-module base; 22-a traction column; 23-an electric push rod; 24-a first linear bearing; 25-a second linear bearing; 3-carrying the module; 31-a lifting seat; 32-a guide post; 4-detecting the sensor group; 41-laser radar; 42-ultrasonic sensor, 43-infrared sensor, 44-visual sensor.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The modular AGV, as shown in fig. 1 and 2, includes a mobile base 1, a traction module 2 and a piggyback module 3.

The movable base 1 comprises a base body 11, the movable base 1 further comprises two driving wheels 12 symmetrically arranged on two sides of the middle of the base body 11, and two driven wheels 13 are respectively arranged on the front side and the rear side of the base body 11. Through this six rounds of structures, remove base 1 and have better support stationarity to because two action wheels 12 are installed in the middle part both sides of pedestal 11, can make and remove base 1 and do original place rotary motion through controlling two action wheels 12 constant speed antiport, and the center of gyration axle is its geometric centre, and radius of gyration is minimum, so AGV can be in the nimble operation in narrower space. The traction module 2 and the bearing module 3 are detachably arranged on the seat body 11, and both can be detached and replaced according to requirements.

As shown in fig. 3, the traction module 2 includes a module base 21 and a traction column 22 which can do controllable telescopic movement relative to the module base 21; specifically, the traction module 2 further comprises an electric push rod 23 and a first linear bearing 24 which are arranged on the module seat 21; the traction column 22 is in sliding fit with the first linear bearing 24, the electric push rod 23 is in driving connection with the traction column 22, and therefore the traction column 22 can move up and down in a telescopic mode by controlling the telescopic movement of the electric push rod 23. So, when the utility model discloses an AGV uses as towed AGV, and module 3 is born to the dismountable, moves to the bottom of target device through control AGV to the messenger pulls the post 22 to rise and makes and pull the post 22 and insert the predetermined pinhole in target device bottom, then can pull through control AGV motion. In this embodiment, traction module 2 has two sets, two sets traction module 2 symmetry sets up preceding, the back both sides of pedestal 11, correspondingly, the target device bottom should be equipped with two pinholes, so insert two pinholes when two traction columns 22, can realize the location between AGV and the target device for when AGV turns, the target device also can follow the turn.

In addition, because the bottom height of the target device that the AGVs are directed against is generally different, in order to make the AGVs can satisfy the traction requirements of devices of different heights under the traction mode, the traction column 22 can be disassembled for replacement, so, when the target device that the AGVs are pulling changes, the user can replace the traction column 22 of different lengths according to the bottom height condition of a new target device, and the traction column 22 can smoothly enter and exit the pin hole at the bottom of the new target device.

The backpack module 3 is detachably mounted on the base body 11, and can move up and down relative to the base body 11, and the up and down movement is driven by the telescopic movement of the traction column 22, so that, when the AGV of the utility model is used as a knapsack AGV, only the knapsack module 3 is needed to be arranged on the seat body 11, and the traction column 22 and the bearing module 3 are fixed to establish a linkage relation between the two, so that the bearing module 3 can be lifted by controlling the electric push rod 23 to drive the traction column 22 to lift, when a target object such as a shelf is required to be carried, the movable base 1 can be controlled to move to the bottom of the target object, then the electric push rod 23 is controlled to work and drive the whole bearing module 3 to ascend to jack up the target object and carry the target object to the target position, and then the electric push rod 23 is controlled to work to drive the whole bearing module 3 to descend so as to put down the target object.

Specifically, the backpack module 3 includes a lifting seat 31, the upper end of the traction column 22 is fixed on the lifting seat 31, in this embodiment, a threaded hole is provided at the top end of the traction column 22, and the lifting seat 31 is fixed at the top end of the traction column 22 by a screw falling into the threaded hole. In order to make the lifting seat 31 lift stably, the module seat 21 is symmetrically provided with two second linear bearings 25, and the lifting seat 31 is provided with guide posts 26 which correspond to each second linear bearing 25 one by one and are in sliding fit with each second linear bearing 25.

Since the characteristics of the target objects to be carried by the carrying module 3 are different, the carrying side of the lifting seat 31 has an attachment interface so that the carrying module 3 can be applied to different target objects. Here, the accessory mounting interface includes a mechanical interface through which a user can mount an auxiliary positioning device matching the characteristics of different jigs equal to the target object on the lifting base 31 and/or an electrical interface through which a user can set an electric positioning device having an actuator such as a motor or an auxiliary detection element such as a sensor on the lifting base 31. The mechanical interface may be a plurality of positioning holes, threaded holes, etc. disposed on the lifting seat 31, and the electrical interface may be a data line with a socket, for example, two square pipes and one sensor are mounted on the lifting seat 31 in fig. 1 through an accessory mounting interface.

In addition, since the traction module 2 is detachable and replaceable, the traction module 2 with different force can be selected according to the requirement, and the user can replace the traction module 2 provided with different electric push rods 23 according to the weight of the target object to be carried, so that the jacking force of the traction column 22 of the traction module 2 is enough to jack up the target object.

In a preferred embodiment, the mobile base 1 is further provided with a detection sensor group 4 and a control unit, and each sensor included in the detection sensor group 4 is electrically connected with the control unit.

In this embodiment, the overlooking profile of the seat body 11 is a square, the detection sensor group 4 includes two laser radars 41 arranged at two ends of a diagonal line of the seat body 11, and the seat body 11 is provided with a circle of abdicating grooves 111 for passing laser. In addition, the detection sensor group 4 further includes an ultrasonic sensor 42, an infrared sensor 43, a visual sensor 44, etc., and a user develops the hardware base according to which the AGV can automatically navigate and move to perform a task.

The utility model discloses a multi-functional AGV of modular can for through setting up the pedestal dismantle the traction module of changing with bear the module for AGV can switch between the AGV form of traction type AGV and two kinds of mainstream of bearing type AGV, makes AGV can satisfy more user demands, and has established the linkage relation of traction module with bear the module through pulling the post under bearing type AGV form, reducible driving power piece quantity, make the structure retrench, reduce cost.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A modular, multi-functional AGV, comprising:

a mobile base comprising a base body;

2. The modular multi-functional AGV of claim 1 wherein the traction module further includes a power push bar and a first linear bearing mounted on the module mount; the traction column is in sliding fit with the first linear bearing, and the electric push rod is in driving connection with the traction column.

3. The modular multi-functional AGV of claim 1 wherein the piggyback module includes a lift base to which the upper end of the traction column is secured.

4. The modular multi-functional AGV of claim 3 wherein the module mount has a plurality of second linear bearings mounted thereon and the lift mount has guide posts slidably engaged with the second linear bearings in a one-to-one correspondence.

5. A modular multi-functional AGV according to any one of claims 1 to 4, wherein there are two sets of said traction modules, said sets of traction modules being symmetrically positioned on the front and rear sides of said base.

6. The modular multi-functional AGV of any one of claims 1-4, wherein the traction posts are removably replaceable.

7. The modular multifunction AGV of claim 3 or 4, wherein the back side of the lift seat has an accessory mounting interface.

8. The modular multi-functional AGV of any one of claims 1-4, wherein the mobile base further includes two drive wheels symmetrically mounted on opposite sides of the middle portion of the housing, and a plurality of driven wheels mounted on opposite sides of the front and rear portions of the housing.

9. The modular multi-functional AGV of any one of claims 1-4, further including a detection sensor set and a control unit mounted on the mobile base, each sensor included in the detection sensor set being electrically connected to the control unit.

10. The modular multi-functional AGV of claim 9 wherein the floor plan is square in outline, the detection sensor set includes two lidar positioned at opposite ends of a diagonal of the seat, and the seat is provided with a ring of relief slots for passage of laser light.