CN216761974U

CN216761974U - Omnibearing AGV intelligent service vehicle

Info

Publication number: CN216761974U
Application number: CN202123441361.4U
Authority: CN
Inventors: 刘帅; 石继超; 赵文明
Original assignee: Shandong Shuibo Welding And Cutting Equipment Manufacturing Co ltd
Current assignee: Shandong Shuibo Intelligent Equipment Co ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-06-17
Anticipated expiration: 2031-12-31

Abstract

The utility model provides an all-round AGV intelligence service cart, shell including frame and frame periphery, install the load device that moves that can vertical lift on the frame, move the year thing board that moves on the load device and can realize the transfer to the material, the power source of battery as whole AGV dolly in the frame, can realize charging and discharging through the dc-to-ac converter, in order to realize the continuation of the journey of dolly, the setting up of navigation tracking sensor enables the dolly and walks along the route of setting for under the drive of differential wheelset, ensure the accuracy that the position was transferred to the material, under the prerequisite that reduces workman intensity of labour and manufacturing cost, the speed of material transportation has still been improved by a wide margin, the production efficiency of whole production line has effectively been promoted.

Description

Omnibearing AGV intelligent service vehicle

Technical Field

The utility model relates to the technical field of AGV trolleys, in particular to an omnibearing AGV intelligent service vehicle.

Background

In traditional workshop production line, production to less on a large scale takes place, the loading and unloading of material, the transportation is basically all shifted by artifical pulling, to larger scale production, then utilize large-scale conveyor such as portal frame to carry out the material transfer, above-mentioned material is carried the transfer mode and not only can be consumed a large amount of labours, increase manufacturing cost, the large-scale conveyor of extra setting still can occupation space, transport transfer rate to the material also can not be shown and promoted, the production efficiency of whole production line has also been influenced to a certain extent.

Disclosure of Invention

According to the omnibearing AGV intelligent service vehicle, manual work or a large-scale lifting appliance is replaced by the AGV intelligent service vehicle to realize material transfer transportation, so that the material transportation efficiency is greatly improved, and the problems in the prior art are solved.

The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model discloses an omnibearing AGV intelligent service vehicle which comprises a vehicle frame, wherein a shell is arranged on the periphery of the vehicle frame, a touch screen display is arranged on one side of the shell, a transfer device is arranged on the vehicle frame and comprises a carrying plate capable of moving vertically, an upper top plate is arranged on the upper side of the vehicle frame, a groove matched with the carrying plate is formed in the upper top plate, a vertically arranged lifting cylinder is arranged in the groove, a piston rod of the lifting cylinder is fixed at the bottom of the carrying plate, a storage battery, an inverter and a controller are further arranged in the vehicle frame, navigation tracking sensors are arranged on the inner sides of the front end and the rear end of the shell, and a differential wheel set is arranged at the bottom of the vehicle frame, wherein the touch screen display, the lifting cylinder, the inverter, the navigation tracking sensors and the differential wheel set are all connected into the controller through control lines. Lifting cylinders are installed at the four corners of the object carrying plate, guide rods are installed at the bottoms of the object carrying plates between the two lifting cylinders at the same end, and guide sleeves matched with the guide rods are arranged on the upper top plate. The front end of shell is equipped with charging socket, and charging socket is connected with the battery through the charging wire. An access door is arranged in the groove of the upper top plate, and the storage battery, the inverter and the controller are all located on the frame at the bottom of the access door. And an industrial AP communication antenna is arranged on the shell and is connected with the controller through a control circuit. All install laser radar around the shell, still install safe limit of touching in the bottom of shell. The anti-collision emergency stop device comprises two moving rods which are horizontally arranged, a through hole which is matched with the moving rods is formed in the shell, one ends of the two moving rods, which extend out of the shell, are connected with an anti-collision plate, springs are sleeved on the peripheries of the moving rods between the anti-collision plate and the shell, the springs always tend to enable the anti-collision plate to be away from the shell, a detection switch is arranged on the shell and is connected with a controller through a control circuit, the anti-collision plate can be identified by the detection switch when approaching the shell, a mounting box is arranged at a position corresponding to the position where the moving rods extend into the shell, a limiting block is arranged at one end of the moving rods, a first rack is arranged on the moving rods in the mounting box, a horizontally arranged transmission shaft is also arranged on the mounting box, and a first gear which is meshed with the first rack is arranged on the transmission shaft in the mounting box, the first rack is located on the upper side of the first gear, the second gears are installed at two ends, extending out of the mounting box, of the transmission shaft, the emergency stop sleeve is vertically installed on the frame and corresponds to the position of the second gear, the stop rod is installed in the emergency stop sleeve in a matched mode, the second rack meshed with the second gear is installed on the stop rod, a friction rubber pad is further installed at the bottom of the stop rod, and when the anti-collision plate compression spring approaches to the shell, the moving rod can drive the stop rod to move downwards to be in contact with the ground through transmission of the gears and the racks.

The utility model has the positive effects that: the omnibearing AGV intelligent service vehicle comprises a frame and a shell on the periphery of the frame, wherein a transfer device capable of vertically lifting is arranged on the frame, a carrying plate on the transfer device can transfer materials, a storage battery in the frame serves as a power source of the whole AGV trolley, charging and discharging can be realized through an inverter so as to realize the cruising of the trolley, the trolley can travel along a set route under the driving of a differential wheel set due to the arrangement of a navigation tracking sensor, the accuracy of the material transfer position is ensured, the material transportation speed is greatly improved on the premise of reducing the labor intensity of workers and the production cost, and the production efficiency of the whole production line is effectively improved.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a bottom view of FIG. 2;

FIG. 5 is a sectional view taken along line A-A of FIG. 2;

FIG. 6 is a sectional view taken along line B-B of FIG. 2;

FIG. 7 is a sectional view taken along line C-C of FIG. 2;

FIG. 8 is a schematic diagram of an AGV intelligent service vehicle and charging pile;

FIG. 9 is a schematic diagram of a crash stop mounted on the housing;

fig. 10 is an enlarged view of the view from direction D in fig. 9.

Detailed Description

The omnibearing AGV intelligent service vehicle comprises a vehicle frame 1, wherein the vehicle frame 1 is used as a main framework of the AGV service vehicle, a shell 2 is arranged on the periphery of the vehicle frame 1, and the vehicle frame 1 and the shell 2 jointly form a vehicle body of the AGV service vehicle, as shown in figures 1 to 4. A touch screen display 3 is arranged on one side of the shell 2, the touch screen display 3 is used as a human-computer interaction interface, and an operator can modify real-time parameters on the touch screen display 3 according to requirements.

For realizing carrying the transfer of material, install on frame 1 and move the device that carries, move and carry the device including the year thing board 4 that can vertical migration, be used for placing the required material that removes on carrying the thing board 4, roof 5 is installed to 1 upside on the frame, upward set up in the roof 5 with carry thing board 4 matched with recess 6, carry thing board 4 and move down and enter into in the recess 6, make and carry thing board 4 and last roof looks parallel and level of roof 5, thereby be favorable to steadily transferring the material, carry 4 vertical rises of thing board and last 5 phase separations backs of roof, be convenient for realize the loading and unloading of material on the AGV service truck.

As shown in fig. 5, a vertically arranged lifting cylinder 7 is installed in the groove 6, a piston rod of the lifting cylinder 7 is fixed at the bottom of the object carrying plate 4, and the object carrying plate 4 can be driven by the extension and contraction of the piston rod to vertically lift. A storage battery 8, an inverter 9 and a controller 10 are further installed in the frame 1, the storage battery 8 serves as a power source of the whole AGV service vehicle, and charging and discharging of the storage battery 8 can be achieved through the inverter 9.

As shown in fig. 6, the navigation tracking sensors 11 are installed on the inner sides of the front and rear ends of the housing 2, the navigation tracking sensors 11 may be the navigation tracking sensors described in chinese patent publication No. CN202120105986.4, or SICK laser navigation, so as to meet the requirement that the AGV service cart moves along a predetermined route, wherein the navigation tracking sensors 11 may be the song RFID sensors with the model of CNs-RFID-01. The differential wheel set 12 is installed at the bottom of the frame 1, the differential wheel set 12 can realize steering and moving of the whole vehicle, the touch screen display 3, the lifting cylinder 7, the inverter 9, the navigation tracking sensor 11 and the differential wheel set 12 are all connected into the controller 10 through a control line, and accurate conveying and transferring of materials of the AGV service vehicle on the premise of no-driving can be realized by setting parameters such as a traveling route, traveling speed and the like in the touch screen display 3.

Further, in order to guarantee the bearing performance of the object carrying plate 4 and the stability during vertical lifting, the four corners of the object carrying plate 4 are all provided with the lifting cylinders 7, as shown in fig. 5, the bottom of the object carrying plate 4 between the two lifting cylinders 7 at the same end is provided with the guide rod 13, and the upper top plate 5 is provided with the guide sleeve 14 matched with the guide rod 13.

Further, as shown in fig. 3, a charging socket 15 is arranged at the front end of the housing 2, the charging socket 15 is connected with the storage battery 8 through a charging wire, as shown in fig. 8, the charging socket 15 can be butted with a charging plug on the charging pile, the AGV service vehicle has an automatic charging function, and when the electric quantity of the AGV service vehicle is reduced to a set value or below, the AGV service vehicle can move to a position near the charging pile and plug the charging socket 15 into the charging pile, so that the storage battery 8 can be charged.

Furthermore, in order to facilitate the maintenance of the components such as the battery 8 and the controller 10 in the frame 1, as shown in fig. 7, an access door 16 is provided in the groove of the upper top plate 5, the battery 8, the inverter 9 and the controller 10 are all located on the frame 1 at the bottom of the access door 16, and after the upper top plate 5 is removed, the maintenance of the components in the frame 1 can be performed.

Further, for realizing the information exchange between AGV service truck and ground control station and ground supervisory equipment to monitor AGV service truck's real-time position, and carry out the transmission of information position, installation industry AP communication antenna 17 on the shell 2, industry AP communication antenna 17 is connected with controller 10 through control scheme.

Further, in order to when AGV service truck removes, avoid producing the collision with each equipment of arranging in the workshop, guarantee that the dolly drives the material and carries out normal removal, laser radar 18 is all installed around shell 2, and laser radar 18 can carry out the distance detection all around to the automobile body, avoids the dolly to advance the in-process and produce the collision with other equipment, and in order to avoid other equipment or material to remove to the dolly direction and be close to and produce unnecessary rigid collision, safe edge 19 of touching is still installed to the bottom at shell 2, safe edge 19 of touching is located the outmost week of whole automobile body to the automobile body damage that the at utmost reduces unnecessary collision and brings.

Further, in order to guarantee that the AGV dolly can stop moving after receiving the striking, avoid differential wheelset 12 control failure or subsequent removal to bring bigger damage for the automobile body, install crashproof scram device on the shell 2, as shown in fig. 9, crashproof scram device is including two carriage bars 20 that the level set up, seted up on the shell 2 with carriage bar 20 matched with through-hole, two carriage bars 20 stretch out the one end of shell 2 and are connected with crashproof board 21, and the carriage bar 20 periphery cover between crashproof board 21 and the shell 2 is equipped with spring 22, and spring 22 has the trend that makes crashproof board 21 keep away from shell 2 all the time. A detection switch 23 is mounted on the housing 2, the detection switch 23 is connected to the controller 10 through a control line, and the collision prevention plate 21 can be recognized by the detection switch 23 when approaching the housing 2. When the AGV trolley is impacted in the running process, the anti-collision plate 21 is in contact with the obstacle to protect the shell 2, and when the anti-collision plate 21 is about to be in contact with the detection switch 23, the detection switch 23 sends an electric signal to the controller 10 to control the differential wheel set 12 to stop moving, so that the whole trolley stops moving.

In order to deal with the situation that the differential wheel set 12 is out of order, when the vehicle body collides, the vehicle body is forced to ascend integrally, so that the differential wheel set 12 is separated from the ground to stop moving, a mounting box 24 is arranged corresponding to the position where the moving rod 20 extends into the shell 2, and a limiting block 25 is arranged at one end of the moving rod 20 extending out of the mounting box 24 to prevent the moving rod 20 from being separated from the mounting box 24.

The movable rod 20 located in the mounting box 24 is provided with a first rack 26, the mounting box 24 is further provided with a transmission shaft 27 horizontally arranged, the transmission shaft 27 located in the mounting box 24 is provided with a first gear 28 meshed with the first rack 26, the first rack 26 is located on the upper side of the first gear 28, and when the movable rod 20 is driven by the anti-collision plate 21 to move, the first gear 28 can be driven to rotate. The two ends of the transmission shaft 27 extending out of the mounting box 24 are both provided with a second gear 29, a vertically arranged emergency stop sleeve 30 is mounted on the frame 1 corresponding to the position of the second gear 29, as shown in fig. 10, a stop rod 31 is fittingly mounted in the emergency stop sleeve 30, a second rack 32 meshed with the second gear 29 is mounted on the stop rod 31, a friction rubber pad 33 is further mounted at the bottom of the stop rod 31, and when the anti-collision plate 21 compresses the spring 22 to approach the housing 2, the moving rod 20 can drive the stop rod 31 to move downwards to contact with the ground through the transmission of the gears and the rack. The stop rod 31 can be located at one side of the differential wheel set 12, the friction rubber pad 33 contacts with the ground after the stop rod 31 moves downwards to decelerate the whole vehicle body, then the stop rod 31 continues to move downwards to drive the whole vehicle body to move upwards, and the AGV trolley does not move any more after the differential wheel set 12 is separated from the ground.

When the crash-proof plate 21 collides and drives the stop rod 31 to move downwards, the actions of the internal structures of the crash-proof emergency stop device are as follows: the anti-collision plate 21 is impacted, the compression spring 22 approaches the shell 2, the moving rod 20 moves to the right in the direction shown in fig. 9, the first rack 26 moving to the right synchronously drives the first gear 28 and the transmission shaft 27 to rotate, the second gear 29 synchronously rotates clockwise in the direction shown in fig. 10, the stop rod 31 is driven to gradually extend out of the emergency stop sleeve 30, the braking of the vehicle body and the lifting of the whole vehicle body are completed, and the forced braking after the collision is realized. The size ratio of the first gear 28 and the second gear 29 can be adjusted as required, and the vertical displacement range distance of the stop rod 31 can be changed on the premise that the movable rod 20 moves transversely for the same distance. When the friction rubber pad 33 at the bottom of the stop rod 31 contacts with the ground, the anti-collision plate 21 needs to move to the housing 2 for a certain distance, and the vehicle body can be completely lifted when the anti-collision plate 21 is not collided, so that the stop rod 31 cannot move downwards to lift the vehicle body when the anti-collision plate 21 is slightly collided, and the vehicle body can be lifted to perform forced braking when the collision is serious or the anti-collision plate 21 is excessively pressed and moved.

The control electrical appliances can be connected to a power supply through wires by the prior electrical technology so as to realize normal functions.

The technical solution of the present invention is not limited to the scope of the embodiments of the present invention. The technical contents not described in detail in the utility model are all known technologies.

Claims

1. The utility model provides an all-round AGV intelligent service car which characterized in that: including frame (1), shell (2) are installed to the periphery of frame (1), be equipped with touch-sensitive screen display ware (3) in one side of shell (2), install on frame (1) and move the device that moves, move the device including year thing board (4) that can vertical removal, roof (5) are installed to frame (1) upside, go up and seted up in roof (5) and carry thing board (4) matched with recess (6), install the jar (7) that lift of vertical setting in recess (6), the piston rod that lifts jar (7) is fixed in the bottom of carrying thing board (4), still install battery (8) in frame (1), dc-to-ac converter (9) and controller (10), navigation tracking sensor (11) are all installed to the inboard at both ends around shell (2), differential wheelset (12) are installed to the bottom of frame (1), wherein touch-sensitive screen display ware (3), The lifting cylinder (7), the inverter (9), the navigation tracking sensor (11) and the differential wheel set (12) are connected into the controller (10) through control lines.

2. The omnibearing AGV intelligent service vehicle of claim 1, wherein: lifting cylinders (7) are installed at the four corners of the object carrying plate (4), guide rods (13) are installed at the bottoms of the object carrying plate (4) between the two lifting cylinders (7) at the same end, and guide sleeves (14) matched with the guide rods (13) are arranged on the upper top plate (5).

3. The omnibearing AGV intelligent service vehicle of claim 1, wherein: the front end of shell (2) is equipped with charging socket (15), and charging socket (15) are connected with battery (8) through the charging wire.

4. The omnibearing AGV intelligent service vehicle of claim 1, wherein: an access door (16) is arranged in the groove of the upper top plate (5), and the storage battery (8), the inverter (9) and the controller (10) are all located on the frame (1) at the bottom of the access door (16).

5. The omnibearing AGV intelligent service vehicle of claim 1, wherein: an industrial AP communication antenna (17) is installed on the shell (2), and the industrial AP communication antenna (17) is connected with the controller (10) through a control circuit.

6. The omnibearing AGV intelligent service vehicle of claim 1, wherein: all install laser radar (18) around shell (2), still install safe limit (19) of touching in the bottom of shell (2).

7. The omnibearing AGV intelligent service vehicle of claim 1, wherein: the anti-collision emergency stop device is characterized in that the shell (2) is provided with the anti-collision emergency stop device, the anti-collision emergency stop device comprises two moving rods (20) which are horizontally arranged, through holes matched with the moving rods (20) are formed in the shell (2), one ends of the two moving rods (20) extending out of the shell (2) are connected with an anti-collision plate (21), springs (22) are sleeved on the peripheries of the moving rods (20) between the anti-collision plate (21) and the shell (2), the springs (22) always have the tendency that the anti-collision plate (21) is far away from the shell (2), the shell (2) is provided with a detection switch (23), the detection switch (23) is connected with the controller (10) through a control circuit, the anti-collision plate (21) can be identified by the detection switch (23) when being close to the shell (2), a mounting box (24) is arranged corresponding to the position where the moving rods (20) extend into the shell (2), and one end, extending out of the moving rods (20), extending out of the mounting box (24), is provided with a limiting block (25), a first rack (26) is arranged on a moving rod (20) positioned in a mounting box (24), a transmission shaft (27) which is horizontally arranged is further arranged on the mounting box (24), a first gear (28) which is meshed with the first rack (26) is arranged on the transmission shaft (27) positioned in the mounting box (24), the first rack (26) is positioned on the upper side of the first gear (28), second gears (29) are respectively arranged at two ends, which extend out of the mounting box (24), of the transmission shaft (27), a vertically-arranged emergency stop sleeve (30) is arranged on a frame (1) corresponding to the position of the second gear (29), a stop rod (31) is arranged in the emergency stop sleeve (30) in a matching way, a second rack (32) which is meshed with the second gear (29) is arranged on the stop rod (31), a friction rubber pad (33) is further arranged at the bottom of the stop rod (31), and when a compression spring (22) of an anti-collision plate (21) approaches to a shell (2), the moving rod (20) can drive the stop rod (31) to move downwards to contact with the ground through the transmission of the gear and the rack.