CN212529865U

CN212529865U - Unmanned carrying vehicle

Info

Publication number: CN212529865U
Application number: CN202021116732.4U
Authority: CN
Inventors: 严巳杰
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2021-02-12
Anticipated expiration: 2030-06-16

Abstract

The application provides an unmanned transport vehicle which comprises a chassis, a jacking module, a fixed shell and a movable shell; the jacking module comprises a jacking mechanism and a top plate; the jacking mechanism is arranged on the chassis and used for driving the top plate to move up and down; the fixed shell is fixed on the chassis; the movable shell is fixed on the top plate and used for shielding a gap between the top plate and the fixed shell when the top plate is lifted. This application unmanned transport vehicle through set up fixed shell on the chassis and set up the movable shell that moves along with the roof lift on the roof, when making the roof rise, the gap between roof and the fixed shell can be sheltered from to the movable shell to make the space between roof and the chassis be in the encapsulated situation all the time, and then avoid staff and article to stretch into between roof and the chassis and cause the clamp to hinder or article damage.

Description

Unmanned carrying vehicle

Technical Field

The application relates to the field of carrying tools, in particular to an unmanned carrying vehicle.

Background

AGVs are an abbreviation of Automated Guided vehicles, i.e., "Automated Guided vehicles," also known as Automated Guided vehicles, which are vehicles equipped with electromagnetic or optical automatic guidance devices and have various transfer functions.

With the widespread use of AGVs, there is an increasing number of human interactions with AGVs. The AGV as a machine, how to ensure the life safety and property safety of people in the process of interacting with people, becomes a problem that cannot be ignored. The function of the existing AGVs is considered more, but the safety is not considered enough, especially when the top plate is lifted, hands or other articles are inserted between the top plate and the chassis, and the hands or the articles can be damaged.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem that the arms may be damaged by being clamped or the articles may be damaged, the unmanned carrying vehicle can effectively prevent the arms from being damaged by being clamped or the articles from being damaged by being clamped.

The automatic guided vehicle comprises a chassis, a jacking module, a fixed shell and a movable shell; the jacking module comprises a jacking mechanism and a top plate; the jacking mechanism is arranged on the chassis and used for driving the top plate to move up and down; the fixed shell is fixed on the chassis; the movable shell is fixed on the top plate and used for shielding a gap between the top plate and the fixed shell when the top plate is lifted.

Further, the fixed housing includes a left fixed-side case and a right fixed-side case; the left fixed side shell and the right fixed side shell are respectively fixed on the left side and the right side of the chassis;

the movable shell comprises a left movable side shell and a right movable side shell; the left movable side shell and the right movable side shell are respectively fixed on the left side and the right side of the top plate, when the top plate is lifted, the height of the lower edge of the left movable side shell is not higher than that of the upper edge of the left fixed side shell, and the height of the lower edge of the right movable side shell is not higher than that of the upper edge of the right fixed side shell.

Furthermore, the fixed shell also comprises an upper front shell, a lower rear shell and an upper rear shell; the upper front shell and the lower front shell are both fixed at the front end of the chassis, and the upper front shell is positioned on the lower front shell; the upper rear shell and the lower rear shell are both fixed at the rear end of the chassis, and the upper rear shell is positioned on the lower rear shell.

Furthermore, an organ cover is arranged between the top plate and the chassis; one end of the organ cover is fixed on the top plate, the other end of the organ cover is fixed on the chassis, and when the top plate is lifted, the organ cover is stretched to avoid foreign objects from entering.

Furthermore, the two organ covers are respectively arranged between the front end of the top plate and the chassis and between the rear end of the top plate and the chassis.

Further, the device also comprises a laser sensor; the laser sensor is arranged at the end part of the fixed shell and used for detecting whether an obstacle exists in front or not and measuring the distance from the unmanned transport vehicle to the obstacle.

Furthermore, there are two laser sensors respectively arranged at the front end and the rear end of the fixed shell.

Further, a vision sensor is also included; the vision sensor is arranged at the end part of the fixed shell and used for identifying a front object and further judging whether the front object needs to stop or avoid.

Furthermore, the number of the vision sensors is two, and the vision sensors are respectively arranged at the front end and the rear end of the fixed shell.

Further, four emergency stop buttons are also included; the four emergency stop buttons are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the fixed shell.

According to the technical scheme, the method has at least the following advantages and positive effects:

the application provides an unmanned transport vehicle, through set up fixed shell on the chassis and set up the movable shell that moves along with the roof goes up and down on the roof, when making the roof rise, the gap between roof and the fixed shell can be sheltered from to the movable shell to make the space between roof and the chassis be in the encapsulated situation all the time, and then avoid staff and article to stretch into between roof and the chassis and cause the clamp to hinder or article damage.

Drawings

Fig. 1 and 2 are schematic perspective views of an automated guided vehicle according to an embodiment of the present application.

Fig. 3 is a schematic perspective view of a chassis according to an embodiment of the present application.

Fig. 4 is a schematic perspective view of a jacking module according to an embodiment of the present application.

Fig. 5 is a schematic perspective view of a fixed housing and a movable housing according to an embodiment of the present application.

The reference numerals are explained below:

1. a chassis;

2. a jacking module; 21. a jacking mechanism; 22. a top plate;

3. fixing the housing; 31. a left fixed side case; 32. a right fixed side case; 33. an upper front shell; 34. a lower front shell; 35. an upper rear shell; 36. a lower rear shell;

4. a movable housing; 41. a left movable side case; 42. a right movable side shell;

5. an organ cover; 6. a laser sensor; 7. a vision sensor; 8. an emergency stop button.

Detailed Description

Exemplary embodiments that embody features and advantages of the present application will be described in detail in the following description. It is to be understood that the present application is capable of various modifications in various embodiments without departing from the scope of the application, and that the description and drawings are to be taken as illustrative and not restrictive in character.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1 and 2, an embodiment of the present application provides an automated guided vehicle for transferring and carrying articles. The automated guided vehicle comprises a chassis 1, a jacking module 2, a fixed shell 3, a movable shell 4, an organ cover 5, a laser sensor 6, a vision sensor 7 and an emergency stop button 8.

Referring to fig. 3, the chassis 1 is used as a mounting and carrying part for other parts of the automated guided vehicle, and a traveling mechanism such as a driving wheel is provided at the bottom thereof so as to carry the automated guided vehicle to move as a whole.

Referring to fig. 4, the jacking module 2 includes a jacking mechanism 21 and a top plate 22. The jacking mechanism 21 is arranged on the chassis 1. The jacking mechanism 21 is a thrust device, and may be a telescopic cylinder, such as a hydraulic cylinder, an electric cylinder, or the like. The top plate 22 is provided on the jack mechanism 21. The jacking mechanism 21 jacks the top plate 22 to drive the top plate 22 to move up and down. The top plate 22 is a loading platform for loading the goods and pushing the goods to be separated from the ground after being lifted by the lifting mechanism 21. The top plate 22 may be a square plate, or may have other shapes such as a circular shape.

Referring to fig. 5, the stationary housing 3 is fixed to the chassis 1. The fixed housing 3 includes a left fixed-side case 31, a right fixed-side case 32, an upper front case 33, a lower front case 34, an upper rear case 35, and a lower rear case 36, and is used to protect the automated guided vehicle and prevent other objects from entering the interior of the back of the automated guided vehicle through the corresponding portions. Fixed shell 3 still plays the decorative effect, makes whole AGV handsome in appearance.

The left and right fixed-

side cases

31 and 32 are fixed to the left and right sides of the chassis 1, respectively, to protect the sides of the automated guided vehicle from both the left and right directions.

The upper and lower

front cases

33 and 34 are fixed to the front end of the chassis 1, and the upper front case 33 is positioned on the lower front case 34, thereby decorating and protecting the front end of the automated guided vehicle. The upper rear case 35 and the lower rear case 36 are fixed to the rear end of the chassis 1, and the upper rear case 35 is located on the lower rear case 36, thereby decorating and protecting the rear end of the automated guided vehicle.

With continued reference to fig. 1, 2, and 5, the movable housing 4 includes a left movable-side case 41 and a right movable-side case 42. The left movable-side case 41 and the right movable-side case 42 are fixed to the left and right sides of the top plate 22, respectively.

The left movable-side case 41 may be specifically a rectangular plate-like member, vertically disposed, and fixed to the left edge of the top plate 22 by its upper edge. In the state where the top plate 22 is lowered, the left movable side case 41 and the left fixed side case 31 are closely overlapped, and for example, the left movable side case 41 covers the outside of the left fixed side case 31.

Likewise, the right movable-side case 42 may be specifically rectangular plate-shaped, vertically disposed, and fixed to the right edge of the top plate 22 by its upper edge. In the state where the top plate 22 is lowered, the right movable-side case 42 and the right fixed-side case 32 are closely overlapped, and for example, the right movable-side case 42 covers the outside of the right fixed-side case 32.

When the top plate 22 is lifted, the top plate 22 drives the left movable side shell 41 and the right movable side shell 42 fixed to the two side edges to be lifted synchronously.

After the top plate 22 rises, the height of the lower edge of the left movable side shell 41 is not higher than that of the upper edge of the left fixed side shell 31, and the height of the lower edge of the right movable side shell 42 is not higher than that of the upper edge of the right fixed side shell 32, so that the left side and the right side of the space between the top plate 22 and the chassis 1 are always in a closed state, and hands and articles are prevented from extending into the space between the top plate 22 and the chassis 1 from the left side and the right side to cause clamping injury or damage.

In some embodiments, the movable housing 4 may also be designed to be located at each of the front, rear, left and right edges of the top plate 22, thereby enclosing a protective enclosure for the space below the top plate 22. For example, the movable housing 4 may be a frame structure formed by enclosing four plate-like structures, when the top plate 22 falls, the movable housing 4 is located inside the fixed housing 3, and when the top plate 22 rises, the height of the lower edge of the movable housing 4 is not higher than the height of the upper edge of the fixed housing 3, so as to shield the gap between the top plate 22 and the fixed housing 3, and also to prevent hands and articles from extending into the space between the top plate 22 and the chassis 1 from the front, rear, left and right directions to cause clamping injury or article damage.

With continued reference to fig. 4, there are two organ covers 5.

The upper end of one organ cover 5 is fixed to the front end of the top plate 22, and the lower end of the organ cover 5 is fixed to the chassis 1, so that when the top plate 22 is lifted, the organ cover 5 is stretched and unfolded, and foreign objects such as hands and articles are prevented from entering the interior of the automated guided vehicle from the lower side of the front end of the top plate 22 to be pinched and damaged, or the automated guided vehicle is damaged.

The upper end of the other organ cover 5 is fixed to the rear end of the roof panel 22, and the lower end of the organ cover 5 is fixed to the chassis 1, so that when the roof panel 22 is lifted, the organ cover 5 is stretched and unfolded, and foreign objects such as hands and articles are prevented from entering the interior of the automated guided vehicle from below the rear end of the roof panel 22 and being pinched or damaged, or the automated guided vehicle is damaged.

In some embodiments, it is also possible to provide a bellows cover at each of the four edges of the top plate 22, so that the bellows cover encloses a space between the top plate 22 and the chassis 1 to prevent foreign objects from entering.

With continued reference to fig. 1 and 2, a laser sensor 6 is provided at an end of the fixed housing 3 for detecting whether there is an obstacle ahead in the traveling direction and measuring the distance from the automated guided vehicle to the obstacle, and feeding back to the control system of the automated guided vehicle. The barrier appears and at certain distance within range in the place ahead, and control system control unmanned transport vehicle automatic stop, and then avoid the emergence of collision.

The number of the laser sensors 6 may be two, and the two laser sensors 6 may be respectively disposed on the lower front case 34 and the lower rear case 36. Therefore, whether the automated guided vehicle moves forwards or backwards, whether an obstacle exists in front of the advancing direction or not can be detected through the corresponding laser sensor 6, the distance between the automated guided vehicle and the obstacle is measured, and the automated guided vehicle is safer and more reliable in the moving process.

If an object is close to the unmanned transport vehicle from the rear of the unmanned transport vehicle, the object can be detected by the laser sensor 6 arranged on the lower rear shell 36 and fed back to the control system, and the control system controls the unmanned transport vehicle to take corresponding avoiding action.

The visual sensor 7 is provided at an end of the fixed housing 3. The vision sensor 7 recognizes an image of an object ahead in the traveling direction, and determines the type and size of the object from the image. Then, the control system judges whether the unmanned transport vehicle needs to stop or avoid according to the type and the size of the object, and further controls the unmanned transport vehicle to take corresponding avoiding action or continue to move according to the current route.

The number of the vision sensors 7 may be two, and the two vision sensors 7 may be disposed on the upper front case 33 and the upper rear case 35, respectively. Therefore, no matter the unmanned transport vehicle moves forwards or backwards, the image information of the object in front of the moving direction can be obtained through the corresponding vision sensor 7, and the unmanned transport vehicle is safer and more reliable in the moving process.

If an object approaches the automated guided vehicle from the rear of the automated guided vehicle, the image of the object in front of the traveling direction can be recognized by the vision sensor 7 provided on the upper rear case 35, and the control system controls the automated guided vehicle to take a corresponding evading action.

In practical application, the laser sensor 6 and the vision sensor 7 can be used in a matched mode, and therefore obstacle avoidance and anti-collision safety performance of the unmanned transport vehicle is further improved.

The emergency stop buttons 8 can be four in number, and the emergency stop buttons 8 can be used for stopping the unmanned transport vehicle in an emergency after being pressed, so that the situation that the unmanned transport vehicle continues to act to cause injury to people or damage to other objects is avoided.

The four sudden stop buttons 8 may be respectively provided on left and right sides of the upper front case 33 and left and right sides of the upper rear case 35, so that the automated guided vehicle may stop operating by pressing the corresponding sudden stop buttons 8 in four directions.

In the concrete implementation, more emergency stop buttons can be arranged around the outer part of the unmanned conveying vehicle, so that the action of stopping the unmanned conveying vehicle in time in case of emergency is further facilitated, and the safety performance is further improved.

While the present application has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present application may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. An automated guided vehicle, comprising:

a chassis;

the jacking module comprises a jacking mechanism and a top plate; the jacking mechanism is arranged on the chassis and used for driving the top plate to move up and down;

the fixed shell is fixed on the chassis;

and the movable shell is fixed on the top plate and used for shielding a gap between the top plate and the fixed shell when the top plate is lifted.

2. The automated guided vehicle of claim 1, wherein the stationary housing comprises a left stationary-side housing and a right stationary-side housing; the left fixed side shell and the right fixed side shell are respectively fixed on the left side and the right side of the chassis;

3. The automated guided vehicle of claim 2, wherein the stationary housing further comprises an upper front shell, a lower rear shell, and an upper rear shell; the upper front shell and the lower front shell are both fixed at the front end of the chassis, and the upper front shell is positioned on the lower front shell; the upper rear shell and the lower rear shell are both fixed at the rear end of the chassis, and the upper rear shell is positioned on the lower rear shell.

4. The automated guided vehicle of claim 1, wherein an organ cover is provided between the roof and the chassis; one end of the organ cover is fixed on the top plate, the other end of the organ cover is fixed on the chassis, and when the top plate is lifted, the organ cover is stretched to avoid foreign objects from entering.

5. The automated guided vehicle according to claim 4, wherein two organ covers are provided between the front end of the roof and the floor pan and between the rear end of the roof and the floor pan, respectively.

6. The automated guided vehicle of claim 1, further comprising a laser sensor; the laser sensor is arranged at the end part of the fixed shell and used for detecting whether an obstacle exists in front or not and measuring the distance from the unmanned transport vehicle to the obstacle.

7. The automated guided vehicle according to claim 6, wherein two of the laser sensors are provided at front and rear ends of the fixed housing, respectively.

8. The automated guided vehicle of claim 1, further comprising a vision sensor; the vision sensor is arranged at the end part of the fixed shell and used for identifying a front object and further judging whether the front object needs to stop or avoid.

9. The automated guided vehicle of claim 8, wherein two of the vision sensors are provided at front and rear ends of the fixed housing.

10. The automated guided vehicle of claim 1, further comprising four crash stop buttons; the four emergency stop buttons are respectively arranged on the left side and the right side of the front end and the left side and the right side of the rear end of the fixed shell.