CN211943576U

CN211943576U - Modularization backpack AGV structure

Info

Publication number: CN211943576U
Application number: CN202020623260.5U
Authority: CN
Inventors: 刘爽; 程峰; 阔孝辉
Original assignee: Digital Twin Zhenjiang Equipment Technology Co ltd
Current assignee: Digital Twin Zhenjiang Equipment Technology Co ltd
Priority date: 2020-04-22
Filing date: 2020-04-22
Publication date: 2020-11-17
Anticipated expiration: 2030-04-22

Abstract

The utility model provides a modularized backpack AGV structure, which comprises a chassis and a functional module, wherein a motion execution module and a control module are arranged on the chassis, and the control module is used for receiving and sending control instructions and controlling the motion execution module to drive the chassis to move; the top of the chassis is provided with a connecting module, the connecting module is used for assembling and disassembling the functional module, and the functional module is connected to the control module through a lead for loading and climbing; the bottom of the chassis is provided with a load sharing module, and the load sharing module is connected to the control module through a lead and is used for sharing transportation load; and the modular design is adopted, so that the maintenance and the replacement are convenient, and the service life is prolonged.

Description

Modularization backpack AGV structure

Technical Field

The utility model belongs to the technical field of the AGV, concretely relates to modularization backpack AGV structure.

Background

The AGV (Automated Guided Vehicle) has become a key material transportation device for realizing flexible, automatic and intelligent production workshops and modern logistics systems due to its characteristics of rapidness, high efficiency and flexibility. The AGV with the electromagnetic navigation function can stably cruise among stations along a designated route, and can convey and carry materials. Current AGV dolly when carrying the heavy object, lacks the detection function, causes damage, the life of AGV dolly to reduce easily, and current AGV dolly often adopts the wholeness structure simultaneously, if takes place to damage, is not convenient for maintain.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a modularization backpack AGV structure to solve current AGV dolly and lack the weight detection function, cause life to reduce, maintain inconvenient problem simultaneously.

The utility model provides a following technical scheme:

a modularized backpack AGV structure comprises a chassis and a functional module, wherein a motion execution module and a control module are mounted on the chassis, and the control module is used for receiving and transmitting control instructions and controlling the motion execution module to drive the chassis to move; the top of the chassis is provided with a connecting module, the connecting module is used for assembling and disassembling the functional module, and the functional module is connected to the control module through a lead for loading and climbing; the chassis bottom disposes bears a burden and shares the module, bear a burden and share the module and be connected to control module through the wire and be used for sharing the transportation and bear a burden.

Preferably, the motion execution module comprises four programmable direct current servo motors and four lithium batteries, the servo motors are arranged at symmetrical positions around the chassis, each servo motor is connected with a right-angle planetary reducer, and each right-angle planetary reducer is connected with a Mecanum wheel; each servo motor is connected to the control module and the lithium battery through wires.

Preferably, the connecting module comprises a supporting plate, rails arranged at two ends of the upper surface of the supporting plate, and a sliding block arranged on each rail, the supporting plate is fixed on the chassis, the sliding block is fixed at the bottom of the functional module, and a bolt is arranged between the sliding block and each rail for positioning and fixing.

Preferably, the functional module is a double-hinged lifting table, the double-hinged lifting table comprises a lifting frame carrying plate, an outer scissor arm, an inner scissor arm, a first electric push rod and a base, the inner wall of the same end of the lifting frame carrying plate and the base is provided with a groove rail, the groove rail of the lifting frame carrying plate is connected with the top of the inner scissor arm, the groove rail of the base is connected with the bottom of the outer scissor arm, and the ends, far away from the groove rail, of the lifting frame carrying plate and the base are respectively connected with the top of the outer scissor arm and the bottom of the inner scissor arm; a lower support rod is arranged at the bottom of the outer scissor arm, an upper support rod is arranged at the upper part of the inner scissor arm, and the first electric push rod is hinged between the upper support rod and the lower support rod; the first electric push rod is connected to the control module through a lead.

Preferably, the load sharing module comprises a pressure sensor and a second electric push rod, and the pressure sensor is arranged at the top of the functional module and is connected to the control module through a lead; the second electric push rod is arranged at the bottom of the chassis and is connected to the control module through a lead, and a universal wheel is arranged at the piston end of the second electric push rod.

Preferably, install magnetic navigation sensor on the chassis, a plurality of gauge points of magnetic navigation sensor equidistance distribution, a plurality of miniature magnetic field detection sensor of every gauge point installation, magnetic navigation sensor passes through the wire and is connected to control module.

Preferably, an RFID reader-writer is installed on the chassis, and the RFID reader-writer can effectively identify stations and read information of positioning cards preset on a driving route so as to stop accurately.

Preferably, the control module comprises a microprocessor and a wireless transceiver module, the microprocessor is used for receiving and processing the control signal, and the wireless transceiver module is used for receiving and sending the control instruction.

The utility model has the advantages that:

the utility model relates to a modularized backpack AGV structure, which is composed of a chassis, a functional module, a connecting module, a load sharing module and a motion executing module, and the modularized design is convenient for maintenance and functional replacement; the module connecting mechanism can also accurately position when connecting the functional module and the chassis, thereby effectively reducing the error of the execution process; the motion execution module carries Mecanum wheels which can enable the trolley to walk in an omnidirectional manner, so that the AGV can move more flexibly; meanwhile, the load sharing module is adopted, when the pressure above the functional module exceeds a set value, the universal wheel is extended out to contact the ground to share the pressure, the deformation of the device is reduced, and the service life is prolonged.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the structure of the present invention;

fig. 3 is a schematic perspective view of a connection module.

Detailed Description

As shown in fig. 1, a modular piggyback AGV structure comprises a chassis 1 and a functional module 2, wherein a motion execution module 4 and a control module are installed on the chassis 1, and the control module is used for receiving and transmitting a control instruction and controlling the motion execution module 4 to drive the chassis 1 to move; the top of the chassis 1 is provided with a connecting module 3, the connecting module 3 is used for loading and unloading the functional module 2, and the functional module 2 is connected to the control module through a lead for loading and climbing; the bottom of the chassis 1 is provided with a load sharing module, and the load sharing module is connected to the control module through a lead and used for sharing transportation load.

As shown in fig. 2, the motion execution module 4 includes four programmable dc servo motors 41 and four lithium batteries, the servo motors 41 are installed and distributed at symmetrical positions around the chassis 1, each servo motor 41 is connected with a right-angle planetary reducer, and the right-angle planetary reducer is connected with a mecanum wheel 42; each servo motor 41 is connected to the control module and the lithium battery through a lead; the functional module 2 is a double-hinged lifting table, the double-hinged lifting table comprises a lifting frame carrying plate 21, an outer shearing fork arm 22, an inner shearing fork arm 23, a first electric push rod and a base 24, the inner walls of the same ends of the lifting frame carrying plate 21 and the base 24 are respectively provided with a groove rail 25, the groove rail 25 of the lifting frame carrying plate 21 is connected with the top of the inner shearing fork arm 23, the groove rail 25 of the base 24 is connected with the bottom of the outer shearing fork arm 22, and the ends, far away from the groove rails, of the lifting frame carrying plate 21 and the base 24 are respectively connected with the top of the outer shearing fork arm 22 and the bottom of the inner shearing fork arm 23; a lower support rod is arranged at the bottom of the outer shearing fork arm 22, an upper support rod is arranged at the upper part of the inner shearing fork arm 23, and a first electric push rod is hinged between the upper support rod and the lower support rod; the first electric push rod is connected to the control module through a lead; the load sharing module comprises a pressure sensor and a second electric push rod, and the pressure sensor is arranged at the top of the functional module 2 and is connected to the control module through a lead; the second electric push rod is arranged at the bottom of the chassis and is connected to the control module through a lead, and a universal wheel is arranged at the piston end of the second electric push rod.

As shown in fig. 3, the connection module 3 includes a support plate 31, rails 32 disposed at two ends of the upper surface of the support plate 31, and a slider 33 disposed on each rail 32, the support plate 31 is fixed on the chassis 1, the slider 33 is fixed at the bottom of the function module 2, and a bolt is disposed between the slider 33 and the rail 32 for positioning and fixing;

specifically, a magnetic navigation sensor is mounted on the chassis 1, a plurality of detection points are equidistantly distributed on the magnetic navigation sensor, a plurality of miniature magnetic field detection sensors are mounted at each detection point, and the magnetic navigation sensor is connected to the control module through a lead; an RFID reader-writer is arranged on the chassis 1, can effectively identify stations and can read information of positioning cards preset on a driving route so as to stop accurately; the control module comprises a microprocessor and a wireless receiving and transmitting module, the microprocessor is used for receiving and processing the control signal, and the wireless receiving and transmitting module is used for receiving and transmitting the control instruction.

Labeled as:

1 base plate

2 functional module 21 lifting frame carrying plate 22 outer scissor arm 23 inner scissor arm 24 base 25 grooved rail

3 link module 31 support plate 32 track 33 slide

The 4-motion actuator 41 servos the motor 42 mecanum wheel.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A modularized backpack AGV structure is characterized by comprising a chassis and a functional module, wherein a motion execution module and a control module are mounted on the chassis, and the control module is used for receiving and sending control instructions and controlling the motion execution module to drive the chassis to move; the top of the chassis is provided with a connecting module, the connecting module is used for assembling and disassembling the functional module, and the functional module is connected to the control module through a lead for loading and climbing; the chassis bottom disposes bears a burden and shares the module, bear a burden and share the module and be connected to control module through the wire and be used for sharing the transportation and bear a burden.

2. The modular piggyback AGV structure of claim 1, wherein said motion execution module comprises four programmable dc servo motors and four lithium batteries, said servo motors being mounted in symmetrical positions around the chassis, each servo motor being connected to a right-angle planetary reducer, said right-angle planetary reducer being connected to a mecanum wheel; each servo motor is connected to the control module and the lithium battery through wires.

3. The AGV structure of claim 1, wherein the connection module comprises a support plate, rails disposed at two ends of an upper surface of the support plate, and a sliding block disposed on each rail, the support plate is fixed on the chassis, the sliding block is fixed at the bottom of the functional module, and a bolt is disposed between the sliding block and the rail for positioning and fixing.

4. The modular backpack AGV structure of claim 1, wherein the functional module is a double-hinged lifting table, the double-hinged lifting table comprises a lifting frame carrying plate, an outer scissor arm, an inner scissor arm, a first electric push rod and a base, the inner walls of the same ends of the lifting frame carrying plate and the base are provided with groove rails, the groove rails of the lifting frame carrying plate are connected with the top of the inner scissor arm, the groove rails of the base are connected with the bottom of the outer scissor arm, and the ends of the lifting frame carrying plate and the base, which are far away from the groove rails, are respectively connected with the top of the outer scissor arm and the bottom of the inner scissor arm; a lower support rod is arranged at the bottom of the outer scissor arm, an upper support rod is arranged at the upper part of the inner scissor arm, and the first electric push rod is hinged between the upper support rod and the lower support rod; the first electric push rod is connected to the control module through a lead.

5. The modular piggyback AGV structure of claim 1, wherein said load sharing module comprises a pressure sensor and a second electric push rod, said pressure sensor being disposed on top of said functional module and connected to a control module by wires; the second electric push rod is arranged at the bottom of the chassis and is connected to the control module through a lead, and a universal wheel is arranged at the piston end of the second electric push rod.

6. The modular piggyback AGV structure of claim 1, wherein a magnetic navigation sensor is mounted on said chassis, said magnetic navigation sensor having a plurality of probing points equally spaced, each probing point having a plurality of miniature magnetic field detection sensors mounted thereon, said magnetic navigation sensor being connected to said control module by wires.

7. The modular piggyback AGV structure of claim 1, wherein an RFID reader is mounted on the chassis, and the RFID reader can effectively identify the stations and read the information of the positioning cards preset on the traveling route to stop accurately.

8. The modular piggyback AGV structure of claim 1, wherein said control module comprises a microprocessor for receiving and processing control signals and a wireless transceiver module for receiving and transmitting control commands.