CN219948398U

CN219948398U - Modular combined AGV

Info

Publication number: CN219948398U
Application number: CN202320243489.XU
Authority: CN
Inventors: 李武立; 王超
Original assignee: Star Arrow Technology Co ltd
Current assignee: Star Arrow Technology Co ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2023-11-03
Anticipated expiration: 2033-02-17

Abstract

The utility model provides a modularized combined AGV, and belongs to the technical field of AGV. A modularized combined AGV comprises a head vehicle body module, a tail vehicle body module and an adaptive vehicle body module; according to the utility model, the first matching structure is arranged at one end of the head frame of the head body module, the second matching structure corresponding to the first matching structure is arranged at one end of the tail frame of the tail body module, and the first matching structure and the second matching structure are respectively arranged at two ends of the matching frame of the matching body module, so that the head body module can be directly assembled with the tail body module, and a plurality of matching body modules can be assembled between the head body module and the tail body module, thereby realizing the adjustment of the total length of the body, meeting the transportation requirements of articles with different sizes, having better adaptability and higher flexibility, realizing the modularized assembly of the body structure, and being more convenient in length adjustment.

Description

Modular combined AGV

Technical Field

The utility model relates to the technical field of AGV (English: automated Guided Vehicle) vehicles, in particular to a modularized combined AGV.

Background

The AGV trolley is a mobile carrier trolley provided with an automatic navigation device and capable of running along a specified navigation path, and is widely used for carrying products in the industrial production process and automatically stacking commodities in the logistics industry.

At present, the existing AGV dolly in the market is mostly overall structure, like an AGV dolly of patent CN107943027A disclosure, with universal wheel symmetric distribution around the automobile body, two drive arrangement symmetries set up the middle part at the automobile body, drive arrangement connects a drive wheel respectively, two drive wheel symmetries set up at the automobile body middle part, the drive wheel is installed at whole body structure positive center, all set up same automobile body at universal wheel and drive wheel promptly, and, drive arrangement also sets up on this automobile body, lead to the overall dimension of this AGV dolly to have been limited by automobile body size, can't realize changing. In actual use, the size of the articles to be transported is changed, such as when the size of the articles is small, the transportation of the AGV trolley can cause the problem of resource waste, and when the size of the articles is large, the transportation of the AGV trolley can cause the problem that the articles exceed the boundary of the trolley body, and the articles are easy to topple, fall and are unevenly damaged by stress, so that the AGV trolley with the self length adjusted according to the size of the transported articles is necessary.

Disclosure of Invention

The utility model provides a to the above-mentioned problem that exists among the prior art, now aim at providing a modularization combination formula AGV car, with automobile body modularization, including locomotive automobile body module, tailstock automobile body module and adaptation automobile body module, be provided with first cooperation structure in the one end of locomotive automobile body module, the one end of tailstock automobile body module is provided with the second cooperation structure that corresponds with first cooperation structure, in addition, be provided with first cooperation module and second cooperation module respectively in the both ends of adaptation automobile body module, promptly when directly assembling locomotive automobile body module and tailstock automobile body module, can satisfy the transportation demand to small-size article, when adding a plurality of adaptation automobile body modules between locomotive automobile body module and tailstock automobile body module, can realize the regulation of the overall length of car, thereby adapt to the transportation demand of jumbo size article.

The specific technical scheme is as follows:

a modular combination AGV including a drive assembly, a controller, an identification obstacle avoidance assembly, and a power source, having such features comprising:

the vehicle comprises a vehicle head and vehicle body module, wherein the vehicle head and vehicle body module comprises a vehicle head frame and first wheels, the first wheels are arranged on two sides of the vehicle head frame, and meanwhile, a first matching structure is arranged at one end of the vehicle head frame;

the vehicle tail vehicle body module comprises a vehicle tail frame and second wheels, the second wheels are arranged on two sides of the vehicle tail frame, and meanwhile, one end of the vehicle tail frame is provided with a second matching structure corresponding to the first matching structure;

the self-adaptive vehicle body module comprises an adaptive vehicle frame, and a first matching structure and a second matching structure are respectively arranged at two ends of the adaptive vehicle frame; in addition, in the case of the optical fiber,

the first wheel and/or the second wheel are/is connected with a driving component, the other end of the vehicle head and body module and/or the vehicle tail and body module is provided with an identification obstacle avoidance component, a controller is arranged in the vehicle head and body module and/or the vehicle tail and body module, a power supply is arranged in the vehicle head and body module and/or the vehicle tail and body module, and the power supply is electrically connected with the driving component, the identification obstacle avoidance component and the controller.

The above-mentioned modular combination formula AGV car, wherein, first cooperation structure and second cooperation structure are platelike structure, and first caulking groove has been seted up to one side that first cooperation structure deviates from locomotive frame or adaptation frame to, first caulking groove has at least one groove lateral wall to be the inclined plane and arranges in order to form first cooperation guide surface, simultaneously, the outline size of second cooperation structure is unanimous with the outline size of first caulking groove, and second cooperation structure has at least one lateral wall to be the inclined plane and arranges in order to form the second cooperation guide surface that corresponds with first cooperation guide surface.

The above-mentioned modular combination formula AGV car, wherein, a plurality of first connecting holes have been seted up on the first cooperation structure, a plurality of second connecting holes have been seted up on the second cooperation structure, when second cooperation structure embedding first cooperation structure, first connecting hole and second connecting hole one-to-one and through threaded fastener locking.

The modular combined AGV comprises a vehicle head frame, a vehicle tail frame and two sides of an adaptive frame, wherein the two sides of the vehicle head frame, the two sides of the adaptive frame are respectively provided with a side plate.

The utility model provides a modular combination formula AGV car, wherein, locomotive frame, tailstock frame and adaptation frame's top all is provided with the apron to, set up the assembly window that corresponds with first cooperation structure and second cooperation structure on the apron, and be provided with auxiliary cover plate in the assembly window and be covered by auxiliary cover plate.

The modular combined AGV comprises a vehicle head frame, a vehicle tail frame and an adaptive frame, wherein lifting holes are formed in the vehicle head frame, the vehicle tail frame and the adaptive frame, and lifting rings are arranged in the lifting holes.

The modular combined AGV comprises a frame, wherein a fork truck bracket is arranged at the bottom of the frame, the fork truck bracket is transversely arranged on the frame, and fork truck holes corresponding to the frame are formed in the side part of the frame.

The modular combined AGV is characterized in that reinforcing rib plates are arranged between the first matching structure and the head frame as well as between the first matching structure and the matching frame; meanwhile, reinforcing rib plates are arranged between the second matching structure and the tail frame and between the second matching structure and the adaptive frame.

The technical scheme has the positive effects that:

the modular combined AGV realizes the modular arrangement of the headstock, the tailstock and the intermediate structure by arranging the headstock body module, the tailstock body module and the adaptive body module, is provided with a first matching structure at one end of the headstock body module, is provided with a second matching structure corresponding to the first matching structure at one end of the tailstock body module, and is provided with the first matching module and the second matching module at two ends of the adaptive body module respectively, namely, when small-size articles are required to be transported, a user can directly assemble the headstock body module and the tailstock body module, and when large-size articles are required to be transported, the user can adjust the overall length of the headstock body module and the tailstock body module, and the modular structure is beneficial to assembly, has higher structural flexibility and better adaptability and is beneficial to transportation of different articles.

Drawings

FIG. 1 is a block diagram of an embodiment of a modular combination AGV of the present utility model;

FIG. 2 is a block diagram of a head body module according to a preferred embodiment of the present utility model;

FIG. 3 is a block diagram of a tail car module according to a preferred embodiment of the present utility model;

FIG. 4 is a block diagram of an adapted body module according to a preferred embodiment of the present utility model;

FIG. 5 is a block diagram of a first mating structure according to a preferred embodiment of the present utility model;

fig. 6 is a structural diagram of a second mating structure according to a preferred embodiment of the present utility model.

In the accompanying drawings: 1. a locomotive body module; 11. a vehicle head frame; 12. a first wheel; 13. a first mating structure; 14. a hanging ring; 15. reinforcing rib plates; 131. a first caulking groove; 132. a first mating guide surface; 133. a first connection hole; 2. a tail car body module; 21. a tail frame; 22. a second wheel; 23. a second mating structure; 231. a second mating guide surface; 232. a second connection hole; 3. adapting a vehicle body module; 31. a fork truck bracket; 32. a forklift hole; 4. a drive assembly; 5. identifying an obstacle avoidance assembly; 6. a controller; 7. a power supply; 8. a side plate; 9. a cover plate; 91. a fitting window; 92. and an auxiliary cover plate.

Description of the embodiments

In order to make the technical means, the creation features, the achievement of the purposes and the effects of the present utility model easy to understand, the following embodiments specifically describe the technical solution provided by the present utility model with reference to fig. 1 to 6, but the following disclosure is not limited to the present utility model.

FIG. 1 is a block diagram of an embodiment of a modular combination AGV of the present utility model; FIG. 2 is a block diagram of a head body module according to a preferred embodiment of the present utility model; FIG. 3 is a block diagram of a tail car module according to a preferred embodiment of the present utility model; fig. 4 is a structural view of an adapted body module according to a preferred embodiment of the present utility model. As shown in fig. 1, 2, 3 and 4, the modular combined AGV provided in this embodiment includes: the vehicle head and body module 1, the vehicle tail and body module 2, the adaptation vehicle body module 3 and the driving assembly 4, the controller 6, the recognition obstacle avoidance assembly 5 and the power supply 7 which are all arranged on the existing AGV trolley.

Specifically, the headstock body module 1 includes a headstock frame 11 and a first wheel 12, preferably, the headstock frame 11 is rectangular frame arrangement, and the first wheels 12 are disposed on two sides of the headstock frame 11, so that two sides of the headstock frame 11 have supporting structures. Meanwhile, one end of the headstock frame 11 is provided with a first matching structure 13, and conditions are provided for rapid assembly of the following headstock body module 1 and the tailstock body module 2 or the adaptive body module 3 through the first matching structure 13.

Specifically, the tail body module 2 includes a tail frame 21 and a second wheel 22, and preferably, the tail frame 21 is also arranged in a rectangular frame, and the second wheel 22 is disposed on two sides of the tail frame 21, so that two sides of the tail frame 21 have supporting structures. Meanwhile, one end of the vehicle tail frame 21 is provided with a second matching structure 23 corresponding to the first matching structure 13, so that a subsequent user can quickly assemble the vehicle head and vehicle body module 1 or the adapting vehicle body module 3 through the second matching structure 23 to meet the requirement of adjusting the total length of the vehicle body.

Specifically, the adapting body module 3 includes an adapting frame, and in order to better adapt the head body module 1 and the tail body module 2, the adapting body module 3 is also adaptively set to a rectangular frame structure. At this time, the first mating structure 13 and the second mating structure 23 are respectively disposed at two ends of the adaptive frame, that is, when the overall length of the vehicle body needs to be increased, a user may select one or more adaptive vehicle body modules 3 to be installed between the vehicle head and body modules 1 and 2. It should be noted that when one of the adapting body modules 3 is added, the first adapting structure 13 on the adapting body module 3 corresponds to the second adapting structure 23 on the tail body module 2, the second adapting structure 23 on the adapting body module corresponds to the first adapting structure 13 on the head body module 1, and when a plurality of adapting body modules 3 are added, the adapting body modules 3 are connected end to end, i.e. the first adapting structure 13 in one adapting body module 3 of two adjacent adapting body modules 3 corresponds to the second adapting structure in the other adapting body module, and the first adapting structure 13 in one adapting body module 3 of the two adapting body modules 3 at the end corresponds to the second adapting structure 23 on the tail body module 2, and the second adapting structure 23 on the other adapting body module 3 corresponds to the first adapting structure 13 on the head body module 1.

More specifically, the first wheel 12 and/or the second wheel 22 are in power connection with the driving assembly 4, that is, the first wheel 12 and the second wheel 22 can be connected with the driving assembly 4 alone or both can be connected with the driving assembly 4, so that power is provided for the rotation of the first wheel 12 and/or the second wheel 22, that is, the arrangement of the front drive, the rear drive and the four-drive of the AGV is realized, and different use requirements are met. Likewise, the other end of the locomotive body module 1 and/or the tail body module 2 is provided with the recognition obstacle avoidance assembly 5, so that the locomotive body module 1 and the tail body module 2 can be provided with the recognition obstacle avoidance assembly 5 alone, and the recognition obstacle avoidance assemblies 5 can be also arranged simultaneously, thereby meeting the advancing or reversing advancing requirements of the vehicle. In addition, a controller 6 is disposed in the headstock body module 1 and/or the tailstock body module 2, that is, when the driving component 4 and/or the identifying obstacle avoidance component 5 are disposed in the headstock body module 1 and the tailstock body module 2, the corresponding headstock body module 1 and the tailstock body module 2 are correspondingly provided with the controller 6 and are electrically connected with the driving component 4 and/or the identifying obstacle avoidance component 5 in the module, so as to satisfy the control of the driving component 4 and/or the identifying obstacle avoidance component 5. In addition, a power supply 7 is disposed in the headstock body module 1 and/or the tailstock body module 2, and the power supply 7 is electrically connected with the driving assembly 4, the recognition obstacle avoidance assembly 5 and the controller 6, that is, whether the power supply 7 is disposed in the headstock body module 1 and the tailstock body module 2 depends on whether power supply is required in the modules, and the headstock body module 1 and the tailstock body module 2 can be reasonably arranged according to actual design requirements. It is worth noting that, because the types of the AGV trolley in the market are various, the technology is mature, and the practical application is wide, the specific structures of the driving assembly 4, the controller 6, the recognition obstacle avoidance assembly 5 and the power supply 7 and the connection circuits between the driving assembly 4, the controller 6, the recognition obstacle avoidance assembly 5 and the power supply 7 are disclosed, and the above structures disclosed in the embodiment include but are not limited to the driving assembly 4, the controller 6, the recognition obstacle avoidance assembly 5 and the power supply 7 in the existing AGV trolley, which can meet the use requirements and are not repeated herein.

FIG. 5 is a block diagram of a first mating structure according to a preferred embodiment of the present utility model; fig. 6 is a structural diagram of a second mating structure according to a preferred embodiment of the present utility model. As shown in fig. 2, 3, 4 and 5 and 6, the first mating structure 13 on the headstock frame 11 and the adapter frame and the second mating structure 23 on the tailstock frame 21 and the adapter frame are both plate-shaped structures, and the processing is convenient. Meanwhile, a first caulking groove 131 is formed in one surface of the first matching structure 13, more specifically, a first caulking groove 131 is formed in one side of the first matching structure 13 away from the headstock frame 11 or the matching frame, that is, the first caulking groove 131 is located at the outer side of the headstock frame 11 or the matching frame, so that the subsequent connection with the second matching structure 23 is facilitated. In addition, at least one groove side wall of the first caulking groove 131 is arranged in an inclined plane to form a first matching guide surface 132, preferably, the first matching guide surface 132 forms the first caulking groove 131 in a structure similar to a flaring, so that the notch size of the first caulking groove 131 is expanded, and the connection with the second matching structure 23 is facilitated. Meanwhile, the outer contour dimension of the second mating structure 23 is consistent with the contour dimension of the first caulking groove 131, so that the second mating structure 23 can be completely embedded into the first caulking groove 131 of the first mating structure 13, and at least one side wall of the second mating structure 23 is arranged in an inclined plane to form a second mating guide surface 231 corresponding to the first mating guide surface 132, namely, when the second mating structure 23 is embedded into the first caulking groove 131 in the first mating structure 13, the second mating structure 23 can be quickly and accurately embedded into the first caulking groove 131 through the mutual guidance of the first mating surface and the second mating surface, even if the initial state is slightly deviated, the position of the second mating structure 23 can be quickly and automatically adjusted, and the disassembly and the assembly are more convenient.

More specifically, a plurality of first connecting holes 133 are formed in the first matching structure 13, meanwhile, a plurality of second connecting holes 232 are formed in the second matching structure 23, and when the second matching structure 23 is embedded into the first matching structure 13, the plurality of first connecting holes 133 on the first matching structure 13 are in one-to-one correspondence with the second connecting holes 232 on the second matching structure 23 matched with the first connecting holes 133, and the corresponding first connecting holes 133 and second connecting holes 232 are locked through threaded fasteners, so that the first matching structure 13 and the second matching structure 23 can be detachably connected, and the assembly is more convenient.

More specifically, all be provided with curb plate 8 in the both sides of locomotive frame 11, tailstock frame 21 and adaptation frame, shelter from locomotive frame 11, tailstock frame 21 and the lateral part of adaptation frame through curb plate 8, can promote the aesthetic property, can also promote the protection effect, prevent that external environment from causing the damage to the structure in the frame, structural design is more reasonable.

More specifically, cover plates 9 are arranged at the tops of the headstock frame 11, the tailstock frame 21 and the adaptive frame, and support supporting plates are formed on the headstock frame 11, the tailstock frame 21 and the adaptive frame through the cover plates 9, so that articles can be placed on the frames conveniently. In addition, the cover plate 9 is provided with an assembly window 91 corresponding to the first matching structure 13 and the second matching structure 23, that is, a user can operate the first matching structure 13 and the second matching structure 23 through the assembly window 91, so that the assembly is more convenient. In addition, an auxiliary cover plate 92 is disposed in each assembly window 91, and the assembly window 91 is covered by the corresponding auxiliary cover plate 92, that is, after the assembly is completed, the assembly window 91 is covered by the auxiliary cover plate 92, so that the cover plate 9 forms a complete structure, and the flatness of the head frame 11, the tail frame 21 and the upper cover plate 9 of the adapter frame is ensured.

More specifically, all be provided with the lifting hole on locomotive frame 11, tail frame 21 and adaptation frame to install rings 14 in the lifting hole, preferably, the lifting hole is the screw hole, and rings 14's lower extreme is screw structure, has realized the threaded connection of rings 14 and lifting hole promptly, when making follow-up dismouting, the transfer of locomotive automobile body module 1, tail automobile body module 2 and adaptation automobile body module 3 is realized to the mode of accessible hoist and mount, and structural design is more reasonable.

More specifically, the bottom of the adaptive frame is provided with a fork truck bracket 31, and preferably, the fork truck bracket 31 is a square tube, so that the fork truck bracket can be directly purchased and is convenient to process. At this time, transversely arrange fork truck bracket 31 on the adaptation frame, the lateral part of adaptation frame is provided with the fork truck hole 32 that corresponds with the adaptation frame, and fork truck hole 32 runs through curb plate 8 on the adaptation frame for follow-up when installing adaptation automobile body module 3 between locomotive automobile body module 1 and tailstock automobile body module 2 or follow locomotive automobile body module 1 and tailstock automobile body module 2, the fork arm of accessible fork truck stretches into in fork truck bracket 31 from fork truck hole 32 and realizes the transfer to adaptation automobile body module 3, structural design is more reasonable.

More specifically, reinforcing rib plates 15 are arranged between the first matching structure 13 and the headstock frame 11 and between the first matching structure 13 and the adaptive frame; likewise, the reinforcing rib plates 15 are also arranged between the second matching structure 23 and the tail frame 21 and between the second matching structure 23 and the adaptive frame, namely, the connection strength between the first matching structure 13 and the head frame 11 and the adaptive frame is improved through the reinforcing rib plates 15, and meanwhile, the connection strength between the second matching structure 23 and the tail frame 21 and the adaptive frame is also improved, so that the structural stability of the first matching structure 13 and the second matching structure 23 is higher, and the bearing capacity is stronger.

The modularized combined AGV provided by the embodiment comprises a headstock body module 1, a tailstock body module 2 and an adaptive body module 3; through being provided with first cooperation structure 13 in the one end of the locomotive frame 11 of locomotive automobile body module 1, be provided with the second cooperation structure 23 that corresponds with first cooperation structure in the one end of the tailstock frame 21 of tailstock automobile body module 2, in addition, be provided with first cooperation structure 13 and second cooperation structure 23 respectively in the both ends of the adaptation frame of adaptation automobile body module 3, make locomotive automobile body module 1 can directly assemble with tailstock automobile body module 2, also can assemble a plurality of adaptation automobile body modules 3 between locomotive automobile body module 1 and tailstock automobile body module 2, thereby realized the regulation of automobile body overall length, satisfy the transportation demand of the article of different sizes, the adaptability is better, the flexibility is higher, in addition, the modularization of having realized automobile body structure is assembled, length adjustment is more convenient.

The foregoing is merely illustrative of the preferred embodiments of the present utility model and is not intended to limit the embodiments and scope of the present utility model, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present utility model, and are intended to be included in the scope of the present utility model.

Claims

1. The utility model provides a modular combination formula AGV car, includes drive assembly, controller, discernment obstacle avoidance subassembly and power, its characterized in that still includes:

the vehicle tail vehicle body module comprises a vehicle tail frame and second wheels, the second wheels are arranged on two sides of the vehicle tail frame, and meanwhile, a second matching structure corresponding to the first matching structure is arranged at one end of the vehicle tail frame;

the adaptive vehicle body module comprises an adaptive vehicle frame, and the two ends of the adaptive vehicle frame are respectively provided with the first matching structure and the second matching structure; in addition, in the case of the optical fiber,

the first wheel and/or the second wheel are/is connected with the driving assembly, the other end of the locomotive body module and/or the other end of the tail body module are/is provided with the recognition obstacle avoidance assembly, the controller is arranged in the locomotive body module and/or the tail body module, the power supply is arranged in the locomotive body module and/or the tail body module, and the power supply is electrically connected with the driving assembly, the recognition obstacle avoidance assembly and the controller.

2. The modular combination type AGV car according to claim 1, wherein the first mating structure and the second mating structure are both plate-shaped structures, a first caulking groove is formed on a side of the first mating structure facing away from the headstock frame or the adapter frame, at least one groove side wall of the first caulking groove is arranged in an inclined plane to form a first mating guiding surface, and meanwhile, an outer contour dimension of the second mating structure is identical to an outer contour dimension of the first caulking groove, and at least one side wall of the second mating structure is arranged in an inclined plane to form a second mating guiding surface corresponding to the first mating guiding surface.

3. The modular combination type AGV according to claim 1 wherein the first mating structure is provided with a plurality of first connecting holes, the second mating structure is provided with a plurality of second connecting holes, and when the second mating structure is embedded in the first mating structure, the first connecting holes and the second connecting holes are in one-to-one correspondence and are locked by threaded fasteners.

4. The modular combination AGV of claim 1 wherein side panels are provided on both sides of the head frame, the tail frame and the adapter frame.

5. The modular combination type AGV according to claim 1 wherein the head frame, the tail frame and the top of the adapter frame are provided with cover plates, and wherein the cover plates are provided with assembly windows corresponding to the first and second mating structures, and wherein the assembly windows are provided with auxiliary cover plates and covered by the auxiliary cover plates.

6. The modular combination type AGV according to claim 1 wherein the headstock frame, the tailstock frame and the adapter frame are provided with lifting holes, and wherein the lifting holes are provided with lifting rings.

7. The modular combination AGV of claim 1, wherein a fork truck bracket is disposed at a bottom of the adapter frame, the fork truck bracket is disposed transversely to the adapter frame, and fork truck holes corresponding to the adapter frame are disposed at a side of the adapter frame.

8. The modular combination AGV of claim 1, wherein reinforcing ribs are provided between the first mating structure and the head frame and between the first mating structure and the adapter frame; meanwhile, reinforcing rib plates are arranged between the second matching structure and the tail frame and between the second matching structure and the adaptive frame.