CN210338113U

CN210338113U - Heavy load AGV based on typewriter ribbon vision is sought mark, differential four drives

Info

Publication number: CN210338113U
Application number: CN201920635687.4U
Authority: CN
Inventors: 肖赖发; 黄鹤; 王刚; 杨勇
Original assignee: Zhuhai Daming Technology Co ltd
Current assignee: Intelligent Automation Equipment Zhuhai Co Ltd
Priority date: 2019-05-06
Filing date: 2019-05-06
Publication date: 2020-04-17
Anticipated expiration: 2029-05-06

Abstract

The utility model provides a heavy load AGV based on typewriter ribbon vision is sought mark, differential four-wheel drive that load capacity is big, road surface strong adaptability and easy to maintain maintenance. The utility model discloses a contain automobile body (2) of jacking platform (1) the bottom of automobile body (2) and the position that is close to four angles are provided with the drive wheel respectively, four the drive wheel rotates by the steering wheel device drive the bottom of automobile body (2) still is provided with an at least vision camera (3) the periphery of vision camera (3) is provided with the light filling device, the light filling device is right vision camera (3) carry out the light filling. The utility model discloses can be applied to the automation field.

Description

Heavy load AGV based on typewriter ribbon vision is sought mark, differential four drives

Technical Field

The utility model relates to an automatic field especially relates to a heavily loaded AGV based on typewriter ribbon vision is sought mark, differential four-wheel drive.

Background

Along with the advocation and implementation of industry 4.0, the automation and intelligence degree of the manufacturing industry and the logistics industry are continuously improved, the AGV (automatic Guided Vehicle) is rapidly developed due to the intelligent and flexible material transmission function, the application of the AGV is not limited to the traditional unmanned storage environment at present, the application of the AGV is expanded to the transportation environment with severe working environment, simple labor and high intensity, and the AGV is also expanded to an outdoor machine type with heavy load and relatively severe application environment from the traditional light-duty load-carrying indoor machine type of an unmanned factory. In the aspect of automatic navigation, the prior art includes magnetic navigation, ribbon navigation, inertial navigation, laser SLAM navigation, Visual SLAM and the like, and various modes have the characteristics of various modes. The existing heavy-load machine types mostly adopt magnetic navigation, inertial navigation, laser SLAM navigation and a mixed mode thereof. There are still many areas in the current art that could be improved.

At present, some domestic AGV manufacturers develop heavy-load AGVs, the heavy-load AGVs can be basically divided into three types of vehicle types, firstly, the AGV is a high-speed (the speed of more than 10 kilometers per hour in the AGV industry is regarded as the high-speed) freight wharf AGV, the AGV is based on an entity of a truck to realize automatic navigation, and the AGV is characterized by being fast and large in load. Although the AGV can run on a rough wharf road surface at a high speed and has the characteristic of high horsepower, the vehicle type can not realize all-directional movement, the vehicle body pose deviation angle is larger than that of other types of AGVs when the positioning is stopped, and the control precision is not high. Secondly, the MECANUM wheels are taken as the traveling wheels of the AGV, the heavy-load AGV can share load through any additional wheel set without worrying about the synchronization problem of each wheel, because the wheel can absorb the redundancy problem caused by asynchronism through the local movement of the rollers on the wheels, and the AGV has the further characteristic that the positioning is accurate, but the AGV can only run at a lower speed (generally lower than 40 m/min), and can cause the chapping of small rollers of the MECANUM wheels when exceeding a speed threshold value, and is accompanied with vibration, so that the adaptability to the road surface is not high enough. And thirdly, the steering wheel type AGV is represented by a steering wheel, the steering wheel type heavy-load AGV released by various manufacturers at present mainly adopts double-steering wheel driving, the maximum running speed can reach 60m/min, but the steering wheel type heavy-load AGV is limited by the power and the loading capacity of a direct current motor, the application environment is limited in a relatively flat road surface, the climbing requirement of large load (more than 5 tons) cannot be met, the climbing is limited to a short slope within 5 degrees, and the phenomenon that a certain steering wheel is overloaded even occurs when the steering wheel type heavy-load AGV meets a hollow road section.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that overcome prior art not enough, provide a heavy load AGV based on typewriter ribbon vision is sought mark, differential four-wheel drive that load capacity is big, road surface strong adaptability and easy to maintain maintenance.

The utility model adopts the technical proposal that: the vehicle comprises a vehicle body comprising a jacking platform, driving wheels are arranged at the bottom of the vehicle body and near four corners of the vehicle body respectively, the four driving wheels are driven by a steering engine device to rotate, at least one vision camera is further arranged at the bottom of the vehicle body, a light supplementing device is arranged on the periphery of the vision camera, and the light supplementing device is used for supplementing light to the vision camera.

According to the scheme, the four driving wheels of the vehicle body are driven by the steering engine devices, and compared with the existing mode of driving by adopting two steering wheels, the steering engine device can provide more sufficient power for the vehicle body, so that the load capacity of the whole vehicle is greatly enhanced, and the uphill capacity of the whole vehicle is also enhanced; the four steering engine devices are adopted for driving, the running direction can be adjusted at any time, 360-degree rotation of the driving wheels is realized, the pose of the car body can be changed at will to avoid road conditions such as pits, and the capability of the AGV in adapting to different road conditions is greatly improved; on the other hand, the optical light supplementing device is used for supplementing light to the vision camera, so that technical support can be provided for the vision camera to acquire a pavement image with higher quality, misjudgment can not occur, further the pavement adaptability of the AGV is enhanced, meanwhile, the light supplementing device is used for supplementing light to the vision camera, the capability of the vision camera for acquiring the image is relatively enhanced, the requirement on the color band on the ground is relatively reduced, and the cost is reduced.

Further, the drive wheel including be equipped with the upper end plate the stabilizer blade, with stabilizer blade normal running fit hang and with the stabilizer blade passes through axis of rotation complex walking wheel, steering wheel device is including fixing just drive on the stabilizer blade walking wheel pivoted motor power with fix corner motor on the stabilizer blade, be provided with movable gear on the output shaft of corner motor the lower terminal surface that hangs is fixed with the fixed gear, movable gear with the external toothing cooperation of fixed gear, hang and the fixed gear is located on the upper end plate still be provided with angle sensor on the upper end plate.

According to the scheme, the power motor and the corner motor are arranged on each driving wheel, the power motor provides enough power for the traveling wheels, the corner motor drives the movable gears to move through output driving, the movable gears can rotate at 360 degrees along the periphery of the fixed gears through the meshing fit relation of the movable gears and the fixed gears, so that the whole support legs are driven, the traveling wheels and the power motor and the corner motor integrally realize the rotation at 360 degrees, further, the driven full-angle rotation is realized, the structure is simple, the stability is good, the load capacity of the AGV is greatly improved, and the road surface adaptability of the AGV is also improved.

Still further, hang include with fixed gear fixed connection's lower casing, cooperation are in the automobile body mounting panel and the cooperation of lower casing top are in the lower casing with between the automobile body mounting panel and right a plurality of supporting spring that the automobile body mounting panel has the jacking effect be provided with the spacing arch of two symmetries in the lower casing, two be provided with a spacing post between the spacing arch at least, it is protruding to be provided with the stroke on the downside of automobile body mounting panel, the vertical stroke slotted hole that is provided with in the stroke arch, spacing post passes the stroke slotted hole, the stroke arch is located two between the spacing arch.

Above-mentioned scheme is visible, hang and realize the heavy load supporting through supporting spring to the automobile body mounting panel, and because the existence of hanging, whole car is when the road surface through various different situations, it can contact with ground to keep walking wheel all the time, make it have better land fertility of grabbing, and then provide the better traction force of advancing and the power of stopping braking of whole automobile body, make its control more steady and reliable, the absorbing effect has also been played in the setting of hanging, the condition of jolting has been avoided AGV to take place, and its simple structure, the cost of manufacture has been reduced, through the structure cooperation between lower support plate and the automobile body mounting panel, its structural reliability has also obtained the promotion.

The number of the supporting springs is four, the number of the stroke protrusions is two, the number of the limiting columns is two, and each stroke protrusion is provided with two stroke slotted holes. Therefore, the stability and balance of the whole suspension are better, and a better driving level can be provided for the AGV.

The light supplementing device comprises a surface light source arranged on the periphery of the vision camera and a support for supporting the surface light source, an included angle between the arrangement direction of the support and the axis of the aperture of the vision camera is 45 degrees, and the surface light source irradiates the ground focused by the vision camera. Therefore, due to the introduction of the surface light source, the bottom of the vehicle body with originally dark light has a good light effect, great support is provided for the photographing work of the vision camera, the image acquired by the vision camera can clearly and respectively go out of the positions of the color bands, and no basic basis is provided for subsequent driving wheel actions.

The number of the vision cameras is three, two of the vision cameras are arranged on a center line of the car body in the length direction and are arranged in the front-back direction, and the third vision camera is arranged on the center line of the car body in the width direction and deviates from a connecting line of the other two vision cameras. Therefore, the plurality of cameras are arranged for image acquisition, whether the AGV deviates from the color band track or not can be accurately obtained according to the pictures acquired by the cameras as far as possible, and the situation that misjudgment occurs due to the fact that a certain color band is incomplete when a single camera is adopted is avoided.

The bottom surface of the vehicle body is also provided with a color band information recognition device, and the periphery of the vehicle body is also provided with an obstacle avoidance radar and an anti-collision strip. The ribbon information identification device is an RFID card reader. Therefore, the RFID card reader is used as the ribbon information recognition device, so that the AGV can quickly and accurately acquire ribbon direction information existing on a moving path in the moving process, the vehicle body is better controlled to perform actions such as speed reduction, stop, bending and transverse movement, and the action accuracy is ensured; the obstacle avoidance radar can safely monitor potential obstacles of the AGV running environment and play roles in predicting and protecting the AGV in advance; the anticollision strip can avoid the AGV automobile body to collide with potential obstacle, guarantees the security of automobile body, can also cooperate the anticollision strip host computer, and when the anticollision strip was collided, the host computer sent the command that the drive wheel outage was at once and the walking wheel of locking to protect the automobile body to the at utmost.

In addition, the jacking platform is located on the automobile body evenly distribute in the automobile body and be provided with a plurality of jacking pneumatic cylinders, the output pole top of jacking pneumatic cylinder is in on the downside of jacking platform. Therefore, through the arrangement of the jacking platform and the jacking hydraulic cylinder, the object to be borne can be quickly jacked, and the loading rapidity and the loading safety are improved.

Drawings

FIG. 1 is a simplified schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the easy structure of the head-up angle of the present invention;

FIG. 3 is a schematic view of a simple structure of a pair of the driving wheels;

fig. 4 is an exploded structure schematic view of the vision camera and the surface light source.

Detailed Description

As shown in fig. 1 to 4, the utility model discloses a car body 2 that contains jacking platform 1, jacking platform 1 is located on car body 2 evenly distribute in car body 2 and be provided with a plurality of jacking pneumatic cylinders, the output pole 24 top of jacking pneumatic cylinder is in on jacking platform 1's the downside. The device comprises a vehicle body 2, and is characterized in that driving wheels are respectively arranged at the bottom of the vehicle body 2 and positions close to four corners, the four driving wheels are driven by a steering engine device to rotate, at least one vision camera 3 is further arranged at the bottom of the vehicle body 2, a light supplementing device is arranged on the periphery of the vision camera 3, and the light supplementing device supplements light for the vision camera 3. The light supplementing device comprises a surface light source 19 arranged on the periphery of the vision camera 3 and a bracket 20 supporting the surface light source 19, an included angle between the arrangement direction of the bracket 20 and the axis of the aperture of the vision camera 3 is 45 degrees, and the surface light source 19 irradiates the ground focused by the vision camera 3.

The drive wheel including be equipped with upper end plate 4 the stabilizer blade 5, with 5 normal running fit's of stabilizer blade hang 6 and with stabilizer blade 5 passes through axis of rotation complex walking wheel 7, steering wheel device is including fixing on the stabilizer blade 5 and drive 7 pivoted driving motor 8 of walking wheel with fix corner motor 9 on the stabilizer blade 5, be provided with on the output shaft of corner motor 9 and move gear 10 hang 6 lower terminal surface and be fixed with fixed gear 11, move gear 10 with the external toothing cooperation of fixed gear 11, hang 6 and fixed gear 11 is located on the upper end plate 4 still be provided with angle sensor 23 on the upper end plate 4.

Hang 6 include with 11 fixed connection's of fixed gear under bracing plate 12, cooperation are in the automobile body mounting panel 13 and the cooperation of under bracing plate 12 top are in under bracing plate 12 with between the automobile body mounting panel 13 and right a plurality of supporting spring 14 that automobile body mounting panel 13 has the jacking effect be provided with the spacing arch 15 of two symmetries on the under bracing plate 12, two be provided with a spacing post 16 between the spacing arch 15 at least, be provided with the protruding 17 of stroke on the downside of automobile body mounting panel 13, the vertical stroke slotted hole 18 that is provided with on the protruding 17 of stroke, spacing post 16 passes stroke slotted hole 18, the protruding 17 of stroke is located two between the spacing arch 15. The number of the supporting springs 14 is four, the number of the stroke protrusions 17 is two, the number of the limiting columns 16 is two, and each stroke protrusion 17 is provided with two stroke slot holes 18.

The number of the vision cameras 3 is three, two of the vision cameras 3 are arranged on the center line of the length direction of the vehicle body 2 and arranged in the front-back direction, and the third vision camera 3 is arranged on the center line of the width direction of the vehicle body 2 and deviates from the connecting line of the other two vision cameras 3.

A color band information recognition device is further arranged on the bottom surface of the vehicle body 2, and an obstacle avoidance radar 21 and an anti-collision strip 22 are further arranged on the periphery of the vehicle body 2. The ribbon information identification device is an RFID reader 25.

Compared with the prior art, the four driving wheels of the vehicle body are driven by the steering engine device, and compared with the existing form of driving by adopting two steering wheels, the four driving wheels can provide more sufficient power for the vehicle body, thereby greatly enhancing the load capacity of the whole vehicle, and the maximum load can reach 6 tons after measurement and calculation; the uphill capacity is also enhanced. The four steering engine devices are adopted for driving, the running direction can be adjusted at any time, 360-degree rotation of the driving wheels is realized, the pose of the car body can be changed at will to avoid road conditions such as pits, and the capability of the AGV in adapting to different road conditions is greatly improved; on the other hand, the optical light supplementing device is used for supplementing light to the vision camera, so that technical support can be provided for the vision camera to acquire a pavement image with higher quality, misjudgment can not occur, further the pavement adaptability of the AGV is enhanced, meanwhile, the light supplementing device is used for supplementing light to the vision camera, the capability of the vision camera for acquiring the image is relatively enhanced, the requirement on the color band on the ground is relatively reduced, and the cost is reduced.

Claims

1. The utility model provides a heavily loaded AGV based on typewriter ribbon vision is sought track, differential four-wheel drive, includes automobile body (2) that contain jacking platform (1) the bottom of automobile body (2) and the position that is close to four angles are provided with drive wheel, its characterized in that respectively: the four driving wheels are driven by a steering engine device to rotate, at least one vision camera (3) is further arranged at the bottom of the vehicle body (2), a light supplementing device is arranged on the periphery of the vision camera (3), and the light supplementing device supplements light for the vision camera (3).

2. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 1, wherein: the driving wheel including be equipped with stabilizer blade (5) of upper end plate (4), with stabilizer blade (5) normal running fit hang (6) and with stabilizer blade (5) are through axis of rotation complex walking wheel (7), steering gear is including fixing just drive on stabilizer blade (5) walking wheel (7) pivoted driving motor (8) with fix corner motor (9) on stabilizer blade (5), be provided with on the output shaft of corner motor (9) and move gear (10) the lower terminal surface that hangs (6) is fixed with fixed gear (11), move gear (10) with fixed gear (11) external toothing cooperation, hang (6) and fixed gear (11) are located on upper end plate (4) still be provided with angle sensor (23) on upper end plate (4).

3. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 2, wherein: the suspension (6) comprises a lower supporting plate (12) fixedly connected with the fixed gear (11), a vehicle body mounting plate (13) matched above the lower supporting plate (12) and a plurality of supporting springs (14) matched between the lower supporting plate (12) and the vehicle body mounting plate (13) and having a jacking effect on the vehicle body mounting plate (13), two symmetrical limiting bulges (15) are arranged on the lower supporting plate (12), at least one limiting column (16) is arranged between the two limiting bulges (15), a travel bulge (17) is arranged on the lower side surface of the vehicle body mounting plate (13), a stroke slotted hole (18) is vertically arranged on the stroke bulge (17), the limit column (16) passes through the stroke slotted hole (18), the stroke bulge (17) is positioned between the two limiting bulges (15).

4. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 3, wherein: the number of the supporting springs (14) is four, the number of the stroke protrusions (17) is two, the number of the limiting columns (16) is two, and two stroke slot holes (18) are formed in each stroke protrusion (17).

5. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 1, wherein: the light supplementing device comprises a surface light source (19) arranged on the periphery of the vision camera (3) and a support (20) supporting the surface light source (19), an included angle between the arrangement direction of the support (20) and the axis of the aperture of the vision camera (3) is 45 degrees, and the surface light source (19) irradiates the ground focused by the vision camera (3).

6. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 5, wherein: the number of the vision cameras (3) is three, two of the vision cameras (3) are arranged on the middle line of the length direction of the vehicle body (2) and are arranged in the front-back direction, and the third vision camera (3) is arranged on the middle line of the width direction of the vehicle body (2) and deviates from the connecting line of the other two vision cameras (3).

7. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 1, wherein: the bottom surface of the vehicle body (2) is also provided with a color band information recognition device, and the periphery of the vehicle body (2) is also provided with an obstacle avoidance radar (21) and an anti-collision strip (22).

8. The color-band visual tracking, differential four-wheel drive-based heavy-duty AGV of claim 7, wherein: the ribbon information identification device is an RFID card reader (25).

9. The color-band visual tracking, differential four-wheel drive based heavy-duty AGV of claim 1, wherein: jacking platform (1) is located on automobile body (2) evenly distribute in automobile body (2) and be provided with a plurality of jacking pneumatic cylinders, the output pole (24) top of jacking pneumatic cylinder is in on the downside of jacking platform (1).