CN215663728U

CN215663728U - Latent shuttle type AGV structure

Info

Publication number: CN215663728U
Application number: CN202122361654.5U
Authority: CN
Inventors: 于健旺; 郭洪涛; 贾志刚
Original assignee: Tianjin Shanshi Robot Co ltd
Current assignee: Tianjin Shanshi Robot Co ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2022-01-28
Anticipated expiration: 2031-09-28

Abstract

The utility model belongs to the technical field of AGV, and particularly discloses a latent shuttle type AGV structure which comprises an AGV body, wherein a driving assembly is fixedly arranged at the bottom end of the AGV body, a jacking mechanism is fixedly arranged at the top end of the AGV body and comprises a jacking disc and a jacking motor, the jacking disc is used for jacking an external material tray, the jacking motor drives the jacking disc to lift, state display mechanisms are arranged at the left end and the right end of the AGV body, and each state display mechanism comprises a display and an indicator light, the display is used for displaying the working state of the AGV body, and the indicator lights play a warning role; all be equipped with laser at the both ends of AGV body and keep away the ware and touch and keep away and hinder the board, realized AGV's walking safety, the outside of drive assembly is equipped with magnetic stripe sensor for read ground magnetic stripe direction, and adopt side direction magnetic stripe sensor and card reader to carry out closed loop location and realize the website location, be used for the outside tray of jacking through jacking motor, realize the transportation of tray material.

Description

Latent shuttle type AGV structure

Technical Field

The utility model relates to the technical field of AGV, in particular to a latent shuttle type AGV structure.

Background

An AGV is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. In industrial application, the driver's transportation vehicle is not required, and the rechargeable battery is used as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, the electromagnetic rail is adhered to the floor, and the unmanned transport vehicle can move and operate according to the information brought by the electromagnetic rail. The AGV is characterized by wheeled movement, and has the advantages of quick action, high working efficiency, simple structure, strong controllability, good safety and the like compared with walking, crawling or other non-wheeled mobile robots.

When the AGV is used for material transfer in the field of automation logistics, the application space of the AGV is from a raw material warehouse to a production station and then to a finished product warehouse, the carrying mode can be divided into a traction type and a latent type, and the structure can be designed into different forms according to the carried materials. Accordingly, to meet the transportation needs of rail shuttle material handling, those skilled in the art have provided a latent shuttle AGV structure.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a latent shuttle type AGV structure to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme:

a latent shuttle type AGV structure comprises an AGV body, a drive assembly is fixedly arranged at the bottom end of the AGV body, a jacking mechanism is fixedly arranged at the top end of the AGV body and comprises a jacking disc used for jacking an external material tray and a jacking motor driving the jacking disc to ascend and descend, state display mechanisms are arranged at the left end and the right end of the AGV body and comprise a display used for displaying the working state of the AGV body and an indicator lamp playing a warning role, a barrier avoiding mechanism is arranged below the display and comprises a laser barrier avoiding device positioned at the middle position below the state display mechanism and a touch barrier avoiding plate fixedly arranged at the middle position at the bottom end of the AGV body, a charging plate is fixedly arranged at the bottom end of the right side of the AGV body, magnetic stripe sensors are fixedly arranged at the two outer ends of the drive assembly, a station positioning mechanism is fixedly arranged at the middle position at the bottom end of the AGV body, the inside intermediate position department of AGV body has set firmly the battery, jacking motor the display the pilot lamp laser is kept away from the ware the station positioning mechanism and drive assembly all with battery electric connection.

As a still further scheme of the utility model: the top middle position department and four corners of jacking dish all set firmly the shock pad.

As a still further scheme of the utility model: two positioning pins which are symmetrically distributed left and right are fixedly arranged at the middle position of the top of the jacking disc.

As a still further scheme of the utility model: laser obstacle avoidance device with the quantity that the board was kept away to the touching is two, and the symmetric distribution sets up both ends around the AGV body.

As a still further scheme of the utility model: the board is kept away in the touching is rubber material, protrusion the front and back both sides face of AGV body, and with the connection can be dismantled to the AGV body.

As a still further scheme of the utility model: the station positioning mechanism comprises a lateral magnetic stripe sensor and a card reader, and the card reader is arranged in the middle of the outer side of the lateral magnetic stripe sensor and is fixedly connected with the lateral magnetic stripe sensor in a threaded manner.

As a still further scheme of the utility model: and a shock absorber is fixedly arranged at the top end of the driving assembly.

As a still further scheme of the utility model: the inside of AGV body has set firmly jacking guiding mechanism, jacking guiding mechanism is including setting firmly the inside axle sleeve of AGV body and the gliding guide bar in inboard of axle sleeve, the top of guide bar with jacking dish fixed connection, jacking guiding mechanism's quantity is four groups, and the symmetric distribution sets up four corners of jacking dish bottom.

As a still further scheme of the utility model: the outside of AGV body is provided with rings, the quantity of rings is four, per two rings are a set of, and the symmetric distribution sets up the both sides face of AGV body.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the laser obstacle avoidance devices and the touch obstacle avoidance plates are arranged at two ends of the AGV body, so that the traveling safety of the AGV is realized, the magnetic stripe sensors are arranged at the outer sides of the driving assemblies and are used for reading ground magnetic stripe guidance, the lateral magnetic stripe sensors and the card reader are adopted for carrying out closed-loop positioning to realize station positioning, the jacking motor is used for jacking the external tray to realize the transfer of tray materials, the AGV body can realize reverse operation without turning the direction, the transfer requirement of rail shuttle type material transfer is met, the structure is simple and reasonable, the operation efficiency is high, the stability is strong, the obstacle avoidance effect is good, and the safety is high.

Drawings

FIG. 1 is an axial view of a latent shuttle AGV configuration;

FIG. 2 is a schematic diagram of a latent shuttle AGV configuration from the right;

FIG. 3 is a schematic cross-sectional view of a latent shuttle AGV configuration;

FIG. 4 is a schematic diagram of a top view of a latent shuttle AGV configuration;

FIG. 5 is a front view of a latent shuttle AGV configuration.

In the figure: 1. an AGV body; 11. a hoisting ring; 2. a jacking mechanism; 21. jacking a disc; 22. a shock pad; 23. positioning pins; 24. a jacking motor; 3. a status display mechanism; 31. a display; 32. an indicator light; 4. an obstacle avoidance mechanism; 41. a laser obstacle avoidance device; 42. touching the obstacle avoidance panel; 5. a charging plate; 6. a station positioning mechanism; 61. a lateral magnetic stripe sensor; 62. a card reader; 7. a drive assembly; 71. a shock absorber; 72. a magnetic stripe sensor; 8. a storage battery; 9. a jacking guide mechanism; 91. a guide bar; 92. and a shaft sleeve.

Detailed Description

Referring to fig. 1 to 5, in the embodiment of the present invention, a latent shuttle AGV structure includes an AGV body 1, a driving assembly 7 is fixedly disposed at a bottom end of the AGV body 1, a jacking mechanism 2 is fixedly disposed at a top end of the AGV body 1, the jacking mechanism 2 includes a jacking disk 21 for jacking an external material tray and a jacking motor 24 for driving the jacking disk 21 to ascend and descend, state display mechanisms 3 are disposed at left and right ends of the AGV body 1, the state display mechanisms 3 include a display 31 for displaying a working state of the AGV body 1 and an indicator lamp 32 for warning, an obstacle avoidance mechanism 4 is disposed below the display 31, the obstacle avoidance mechanism 4 includes a laser obstacle avoidance device 41 located at a middle position below the state display mechanisms 3 and a touch obstacle avoidance plate 42 fixedly disposed at a middle position of a bottom end of the AGV body 1, a charging plate 5 is fixedly disposed at a bottom end of a right side of the AGV body 1, magnetic stripe sensors 72 are fixedly disposed at two outer ends of the driving assembly 7, the bottom intermediate position department of AGV body 1 has set firmly station positioning mechanism 6, and the inside intermediate position department of AGV body 1 has set firmly battery 8, and jacking motor 24, display 31, pilot lamp 32, laser are kept away from and are hindered ware 41, station positioning mechanism 6 and drive assembly 7 all with battery 8 electric connection.

Specifically, shock absorbing pads 22 are fixedly arranged at the middle position of the top of the jacking disc 21 and at four corners; by between jacking tray and the jacking dish 21 through shock pad 22 slow down the vibration of jacking and transportation way, make the material in the tray of being pushed up transport more stable.

Specifically, two positioning pins 23 which are distributed symmetrically left and right are fixedly arranged at the middle position of the top of the jacking disc 21; when jacking dish 21 jacking was pushed up the material tray, locating pin 23 inserted in the outside locating hole by pushing up the material tray, and locating pin 23 will be fixed by pushing up tray and 21 location of jacking dish to make jacking dish 21 can drive and moved by pushing up the tray, and stability is strong, and difficult slippage drops.

Specifically, the number of the laser obstacle avoidance devices 41 and the number of the touch obstacle avoidance plates 42 are two, and the laser obstacle avoidance devices and the touch obstacle avoidance plates are symmetrically distributed at the front end and the rear end of the AGV body 1; laser is kept away and is hindered ware 41 and touching and keep away that board 42 constitutes AGV walking safety protection, avoids AGV body 1 walking in-process to meet the obstacle and bump the material that leads to being pushed up on the tray and is influenced by the striking dynamics and drop, and avoids leading to AGV body 1 to break down because of foreign object collision striking, reinforcing AGV body 1's walking security.

Specifically, the touch obstacle avoidance plates 42 are made of rubber, protrude out of the front side surface and the rear side surface of the AGV body 1, and are detachably connected with the AGV body 1; when contacting external obstacles, the collision force can be reduced.

Specifically, the station positioning mechanism 6 comprises a lateral magnetic stripe sensor 61 and a card reader 62, wherein the card reader 62 is arranged at the middle position of the outer side of the lateral magnetic stripe sensor 61 and is fixedly screwed with the lateral magnetic stripe sensor 61; the lateral magnetic stripe sensor 61 and the card reader 62 are used for closed-loop positioning, so that the AGV body 1 can stop at a specified position after walking to a station.

Specifically, a shock absorber 71 is fixedly arranged at the top end of the driving assembly 7; reducing the pitching of the drive assembly 7 during walking.

Specifically, a jacking guide mechanism 9 is fixedly arranged inside the AGV body 1, the jacking guide mechanism 9 comprises a shaft sleeve 92 fixedly arranged inside the AGV body 1 and guide rods 91 sliding on the inner side of the shaft sleeve 92, the top ends of the guide rods 91 are fixedly connected with the jacking disk 21, the number of the jacking guide mechanisms 9 is four, and the jacking guide mechanisms 9 are symmetrically distributed at four corners of the bottom end of the jacking disk 21; the jacking mechanism is used for matching with the jacking motor 24 to finish jacking movement of the jacking disk 21, so that the jacking disk 21 can jack the external material tray more stably.

Specifically, the outer side of the AGV body 1 is provided with four hanging rings 11, each two hanging rings 11 are a group and are symmetrically distributed on two side surfaces of the AGV body 1; and lifting and moving of the AGV are realized.

The working principle of the utility model is as follows: when the driving assembly 7 is powered on to enable operation, the AGV body 1 starts to move, when the AGV body 1 turns to or walks along a curve, the front and back driving assembly 7 sets according to a program algorithm, the two-wheel differential control is completed, the AGV body 1 path guidance is read by the magnetic stripe sensor 72 to read the ground magnetic stripe guidance, the station positioning adopts the lateral magnetic stripe sensor 61 to perform closed-loop positioning with the card reader 62, after the AGV body 1 reaches the station, the jacking motor 24 starts to act, the jacking disc 21 is lifted through the guide rod 91, the positioning pin 23 positions the jacked tray with the jacking disc 21, the tray is jacked away from the track along with the lifting of the jacking disc 21, the traveling safety of the AGV body 1 consists of the laser obstacle avoidance device 41 and the touch obstacle avoidance device 42, when the AGV body 1 moves to the charging station, the lateral charging plate 5 is in contact with the charging pile contact to complete automatic charging, and in the running state of the AGV body 1, the running state of the AGV body 1 can be displayed through the display device 31 and the indicator lamp 32, the staff of being convenient for observes, is slowed down the vibration on the way of jacking and transportation through shock pad 22 between by jacking tray and the jacking dish 21, makes the material of being pushed up in the tray transport more stable, and rings 11 through the AGV body 1 outside can realize that the hoist and mount of AGV body 1 remove.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the scope of the present invention, and the technical solutions and the utility model concepts of the present invention are equivalent to or changed within the scope of the present invention.

Claims

1. The utility model provides a shuttle AGV structure of hiding, a serial communication port, including AGV body (1), the bottom of AGV body (1) has set firmly drive assembly (7), the top of AGV body (1) has set firmly climbing mechanism (2), climbing mechanism (2) are including jacking dish (21) and the drive that is used for jacking outside material tray jacking motor (24) that jacking dish (21) go up and down, both ends are provided with status display mechanism (3) about AGV body (1), status display mechanism (3) are including being used for showing AGV body (1) operating condition's display (31) and play warning effect's pilot lamp (32), the below of display (31) is provided with and keeps away hindrance mechanism (4), keep away hindrance mechanism (4) including being located the laser of status display mechanism (3) below intermediate position department keeps away hindrance ware (41) and sets firmly the touching of AGV body (1) bottom intermediate position department keeps away the board (42) The utility model discloses a AGV driving assembly (7) and driving assembly, the right side bottom of AGV body (1) has set firmly charging panel (5), the outside both ends of driving assembly (7) have set firmly magnetic stripe sensor (72), the bottom intermediate position department of AGV body (1) has set firmly station positioning mechanism (6), the inside intermediate position department of AGV body (1) has set firmly battery (8), jacking motor (24) display (31), pilot lamp (32) laser is kept away from obstacle ware (41) station positioning mechanism (6) and driving assembly (7) all with battery (8) electric connection.

2. A latent shuttle AGV structure according to claim 1, characterised in that shock absorbing pads (22) are fixed to the top of the lifting plate (21) at a middle position and at four corners.

3. A latent shuttle AGV structure according to claim 1, characterised in that two locating pins (23) are fixed on the top of the lifting plate (21) at the middle position.

4. A latent shuttle AGV structure according to claim 1, characterised in that the number of said laser obstacle-avoidance devices (41) and said obstacle-avoidance plate (42) is two, and they are symmetrically arranged at the front and rear ends of the AGV body (1).

5. A latent shuttle AGV structure according to claim 4, wherein said touch obstacle-avoiding plate (42) is made of rubber, protrudes from both sides of the front and rear sides of the AGV body (1), and is detachably connected to the AGV body (1).

6. A latent shuttle AGV structure according to claim 1, characterised in that the station location mechanism (6) comprises a lateral magnetic strip sensor (61) and a card reader (62), the card reader (62) being arranged at an intermediate position outside the lateral magnetic strip sensor (61) and being threadably secured to the lateral magnetic strip sensor (61).

7. A latent shuttle AGV structure according to claim 1, characterised in that the drive assembly (7) is provided with shock absorbers (71) fixed to its top end.

8. A latent shuttle AGV structure according to claim 1, wherein a jacking guide mechanism (9) is fixedly arranged inside the AGV body (1), the jacking guide mechanism (9) comprises a shaft sleeve (92) fixedly arranged inside the AGV body (1) and guide rods (91) sliding inside the shaft sleeve (92), the top ends of the guide rods (91) are fixedly connected with the jacking disk (21), the number of the jacking guide mechanisms (9) is four, and the jacking guide mechanisms are symmetrically distributed at four corners of the bottom end of the jacking disk (21).

9. A latent shuttle AGV structure according to claim 1, characterized in that the outer side of the AGV body (1) is provided with four hanging rings (11), every two hanging rings (11) are in one group and are symmetrically distributed on two side surfaces of the AGV body (1).