CN212861696U

CN212861696U - Omnidirectional automatic guide traction transport vehicle

Info

Publication number: CN212861696U
Application number: CN202021710847.6U
Authority: CN
Inventors: 朱昕华
Original assignee: Shanghai Yu Crown Technology Co ltd
Current assignee: Shanghai Yu Crown Technology Co ltd
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2021-04-02
Anticipated expiration: 2030-08-17

Abstract

The utility model discloses an omnidirectional automatic guide pulls transport vechicle, including body frame, with the anterior articulated anterior turn-over plate of body frame, with the articulated rear portion turn-over plate of body frame rear portion, with the articulated front and back top upper cover plate of body frame top and control the top upper cover plate, with the direction hooking mechanism of skip butt joint, install the walking drive subassembly in the body frame bottom, be two laser probe of diagonal angle installation at the locomotive rear of a vehicle, be equipped with the magnetic navigation sensor subassembly that is used for walking around respectively on bottom of the vehicle length direction axis, be equipped with the magnetic navigation sensor subassembly that is used for walking about on bottom of the vehicle width direction axis respectively, the card reader subassembly of body frame bottom installation, the supplementary obstacle avoidance sensor of installation in body frame both sides. The utility model discloses simple structure is reliable, the operation is stable, charge safety, driving force are strong, control accuracy is high, improves and transports efficiency.

Description

Omnidirectional automatic guide traction transport vehicle

Technical Field

The utility model relates to an automatic transportation equipment technical field particularly, relates to an automatic direction of qxcomm technology pulls transport vechicle.

Background

Agvs (automated Guided vehicles) are transport vehicles equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path without manual operation, and which have safety protection and various transfer functions. Belongs to the field of wheeled mobile robots, and relates to an unmanned transport vehicle. With the development of electronic and control technologies, the requirements on the AGV technology are higher and higher, a part of automatic production lines need to be accurately positioned with a trolley, and the total conveying height is limited by safety requirements. Latent towed AGV has lower automobile body, can hide and hang the knot and trip at the skip bottom, reads the landmark instruction through the magnetic stripe guidance, can be according to berthing of setting for the website to guide the platform truck normal walking and the accurate parking. However, the most used hidden AGVs in the prior art are one-way or two-way hidden AGVs, when the pulled trolley is longer and heavier, the driving wheel is easily stressed too much, the friction with the ground is larger, and the service life of the driving wheel is shortened; and present drawing AGV hiding and being used for one-way circulating operating mode and the reciprocating type operating mode of route more, simultaneously, one-way AGV turns to inconveniently at the advancing process, if need turn around, then need turn around circular route, turns to very inconveniently in constrictive workshop, and need lay corresponding electromagnetism track, can cause the waste of material, the increase of cost. In actual conditions, most application scenes are complex in conveying path and are in automatic butt joint with stations, and the conventional traction type AGV cannot perform transverse safety detection and transverse movement positioning and cannot perform transverse movement.

An effective solution to the problems in the related art has not been proposed yet.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic direction of qxcomm technology pulls transport vechicle to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an automatic direction traction transport vechicle of qxcomm technology, includes body frame, anterior turn-over board, front and back top upper cover plate, rear portion turn-over board, top upper cover plate, direction hooking mechanism, walking drive assembly, two laser probe, the magnetic navigation sensor subassembly of walking around, the magnetic navigation sensor subassembly of walking about, card reader subassembly, supplementary obstacle-avoiding sensor, control panel, electric integrated control module, body frame adopts the rectangular pipe welding, adopts the panel beating banding around, installs respectively with body frame articulated anterior turn-over board around, rear portion turn-over board, top articulated respectively have front and back top upper cover plate, control top upper cover plate, body frame top still is equipped with the direction hooking mechanism with the skip butt joint for the AGV hides gets into the skip bottom, locks with skip bottom mechanism cooperation, realizes AGV and skip synchronous walking, is equipped with the magnetic navigation sensor group that is used for walking around on body frame bottom length direction axis respectively The piece is equipped with the magnetic navigation sensor subassembly that is used for controlling walking respectively on automobile body frame bottom width direction axis, and the crossing point of two axis is automobile body geometry central point and puts installation card reader subassembly, and two laser probe distributions are the diagonal angle installation at automobile body frame locomotive rear of a vehicle, and every laser probe's scanning angle is 270 degrees, is equipped with the supplementary obstacle-avoiding sensor respectively in automobile body frame both sides for fill laser probe's scanning dead angle, in order to realize that 360 degrees no dead angles of whole car are kept away the obstacle safely, electric integrated control module is including installing the brush piece that charges in automobile body frame bottom, is used for charging the dress for whole car at the inside automatically controlled integrated unit of automobile body, adorns the battery system and the drive control unit for whole car power supply inside automobile body frame.

Furthermore, the walking driving assembly is composed of two driving wheels and two driven wheels, the two driving wheels are distributed diagonally, the two driven wheels are also distributed diagonally, one group of driving wheels and the driven wheels are fixedly installed on the vehicle body frame, and the other group of driving wheels and the driven wheels are connected with the vehicle body frame in a swing bridge mode. This has a better ground self-adaptation capability.

Furthermore, two hoisting holes are respectively installed on two sides of the car body frame and used for installing hoisting screws, and hoisting and transportation of the AGV are facilitated.

Further, the front and rear top upper cover plates, the left and right top upper cover plates are provided with handles for lifting the front and rear left and right upper cover plates.

Furthermore, the control panel is installed on the front flip board and the rear flip board, and comprises a touch screen, an emergency stop button, a start button, a stop button, a main electric switch and the like, and is used for controlling the functions of the AGV, such as starting, stopping, advancing, retreating, transverse moving, in-situ rotation and the like.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model discloses simple structure is reliable, the operation is stable, charge safety, driving force are strong, control accuracy is high, improves and transports efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is an isometric view of an omnidirectional automatic guided tractor transport vehicle according to an embodiment of the present invention;

fig. 2 is a bottom view of an omnidirectional automatic guided tractor transport vehicle according to an embodiment of the present invention;

fig. 3 is a side view of an omnidirectional automatic guided tractor transport vehicle according to an embodiment of the present invention;

fig. 4 is a top view of an omnidirectional automated guided tractor transport vehicle according to an embodiment of the present invention;

fig. 5 is an internal layout view of an omnidirectional automatic guided traction transport vehicle according to an embodiment of the present invention;

reference numerals:

1.1, a vehicle body frame; 1.2, a front flip plate; 1.3, a rear flip plate; 1.4, front and rear top upper cover plates; 1.5, upper cover plates at the left top and the right top; 1.6, a handle; 1.7, a guide hanging mechanism; 1.8, hoisting holes; 2.1, a driving wheel; 2.2, a driven wheel; 3.1, a magnetic navigation component which walks forwards and backwards; 3.2, magnetic navigation components walking left and right; 3.3, a card reader component; 4.1, a laser probe; 4.2, an auxiliary obstacle avoidance sensor; 5.1, a touch screen; 5.2, an emergency stop button; 5.3, starting and stopping buttons; 5.4, total electric switch; 6.1, charging a brush block; 6.2, an electric control integrated unit; 6.3 a battery system; 6.4 drive the control unit.

Detailed Description

The following, with reference to the drawings and the detailed description, further description of the present invention is made:

referring to fig. 1-5, an omnidirectional automatic guided towing vehicle according to an embodiment of the present invention includes a vehicle body frame 1.1, a front flip plate 1.2, a rear flip plate 1.3, front and rear top upper cover plates 1.4, left and right top upper cover plates 1.5, a guiding and hanging mechanism 1.7, a traveling drive assembly, two laser probes 4.1, a front and rear traveling magnetic navigation sensor assembly 3.1, a left and right traveling magnetic navigation sensor assembly 3.2, a card reader assembly 3.3, an auxiliary obstacle avoidance sensor 4.2, a control panel, an electrical integrated control module, wherein the vehicle body frame 1.1 is welded by a rectangular pipe, the periphery is sealed by a metal plate, the front and rear are respectively provided with the front flip plate 1.2 hinged to the vehicle body frame 1.1, the rear flip plate 1.3, the top is respectively hinged to the front and rear top upper cover plates 1.4, the left and right top upper cover plates 1.5, the top of the vehicle body frame 1.1 is further provided with the guiding and hanging mechanism 1.7 butted to a, the electric integrated control module comprises a charging brush block 6.1 arranged at the bottom of a car body frame 1.1 and an electric control integrated unit 6.2 used for charging and arranged in the car body frame 1.1, wherein the magnetic navigation sensor component 3.1 used for walking forwards and backwards is respectively arranged on a central axis in the length direction of the bottom of the car body frame 1.1, the magnetic navigation sensor component 3.2 used for walking left and right is respectively arranged on a central axis in the width direction of the bottom of the car body frame 1.1, a card reader component 3.3 is arranged at the intersection point of two central axes, namely the geometric central position of a car body, two laser probes 4.1 are distributed at the head and the tail of the car body frame 1.1 and are arranged in opposite angles, the scanning angle of each laser probe 4.1 is 270 degrees, auxiliary obstacle avoidance sensors 4.2 used for filling the scanning dead angles of the laser probes are respectively arranged at two sides of the car body frame 11 and used for realizing the safe obstacle avoidance of the whole car with no dead angle of 360 degrees, a battery system 6.3 which is arranged in the vehicle body frame 1.1 and supplies power to the whole vehicle, and a driving control unit 6.4, wherein the driving control unit 6.4 can realize the traveling modes of advancing, retreating, transverse moving, in-situ rotation and the like.

Through the above technical scheme of the utility model, the walking drive subassembly comprises two action wheels 2.1 and two follower 2.2, and two action wheels 2.1 are diagonal distribution, and two follower 2.2 are diagonal distribution equally, and wherein a set of action wheel 2.1 and follower 2.2 and body frame 1.1 fixed mounting, another action wheel 2.1 of group links with body frame 1.1 through the mode of rocking bridge with follower 2.2, has better ground self-adaptation ability like this.

Through the above technical scheme of the utility model, two hole for hoist 1.8 are equipped with respectively to body frame 1.1 both sides and are used for installing the hoist and mount screw, make things convenient for lifting by crane and transportation of AGV.

Through the above technical scheme of the utility model, top upper cover plate 1.4 around, about top upper cover plate 1.5 install handle 1.6 and be convenient for open.

Through the above technical scheme of the utility model, control panel installs on front flip board 1.2 and rear portion flip board 1.3, including touch-sensitive screen 5.1, scram button 5.2, start, stop button 5.3 and total electric switch 5.4 be used for controlling functions such as AGV's start, stop, advance, retreat, sideslip, original place rotation.

Finally, it should be noted that: 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. An omnidirectional automatic guide traction transport vehicle is characterized by comprising a vehicle body frame (1.1), a front overturning plate (1.2), a rear overturning plate (1.3), front and rear top upper cover plates (1.4), left and right top upper cover plates (1.5), a guide hanging mechanism (1.7), a walking drive assembly, two laser probes (4.1), a front and rear walking magnetic navigation sensor assembly (3.1), a left and right walking magnetic navigation sensor assembly (3.2), a card reader assembly (3.3), an auxiliary obstacle avoidance sensor (4.2), a control panel and an electric integrated control module, wherein the vehicle body frame (1.1) is welded by adopting a rectangular pipe, the periphery of the vehicle body frame is sealed by adopting a metal plate, the front overturning plate (1.2) hinged with the vehicle body frame (1.1) is respectively arranged at the front and the rear, the top overturning plate (1.3) is respectively hinged with the front and rear top upper cover plates (1.4), the left and right top upper cover plates (1.5), the top of the car body frame (1.1) is also provided with a guide hanging mechanism (1.7) which is in butt joint with a skip car, magnetic navigation sensor assemblies (3.1) which are used for walking forwards and backwards are respectively arranged on the central axis of the bottom of the car body frame (1.1) in the length direction, magnetic navigation sensor assemblies (3.2) which are used for walking left and right are respectively arranged on the central axis of the bottom of the car body frame (1.1) in the width direction, a card reader assembly (3.3) is arranged at the intersection point of two central axes, namely the geometric central position of the car body, two laser probes (4.1) are distributed at the head of the car body frame (1.1) and are arranged in opposite angles, the scanning angle of each laser probe (4.1) is 270 degrees, auxiliary obstacle avoidance sensors (4.2) are respectively arranged at two sides of the car body frame (11), the electric integrated control module comprises a charging brush block (6.1) which is arranged at the bottom of the car body frame (1.1) and an electric control integrated unit, a battery system (6.3) which is arranged in the vehicle body frame (1.1) and supplies power to the whole vehicle and a drive control unit (6.4).

2. The omni-directional automatic guiding traction transport vehicle according to claim 1, wherein the walking driving assembly comprises two driving wheels (2.1) and two driven wheels (2.2), the two driving wheels (2.1) are distributed diagonally, the two driven wheels (2.2) are also distributed diagonally, one group of driving wheels (2.1) and driven wheels (2.2) are fixedly mounted with the vehicle body frame (1.1), and the other group of driving wheels (2.1) and driven wheels (2.2) are linked with the vehicle body frame (1.1) in a swing bridge manner.

3. The omnidirectional automatic guided traction transport vehicle according to claim 1, wherein two hoisting holes (1.8) are respectively installed on two sides of the vehicle body frame (1.1).

4. An omnidirectional automatic guided towing vehicle according to claim 1, wherein said front and rear top cover plates (1.4), left and right top cover plates (1.5) are provided with handles (1.6).

5. An omnidirectional automatic guided traction transport vehicle according to claim 1, characterized in that said control panel is mounted on the front and rear flaps (1.2, 1.3) and comprises a touch screen (5.1), a scram button (5.2), a start and stop button (5.3) and a general electric switch (5.4).