CN108622823A - A kind of mini carriers of unmanned AGV - Google Patents
A kind of mini carriers of unmanned AGV Download PDFInfo
- Publication number
- CN108622823A CN108622823A CN201810844219.8A CN201810844219A CN108622823A CN 108622823 A CN108622823 A CN 108622823A CN 201810844219 A CN201810844219 A CN 201810844219A CN 108622823 A CN108622823 A CN 108622823A
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- CN
- China
- Prior art keywords
- swing arm
- mini
- carriers
- fork leg
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/127—Working platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention relates to a kind of unmanned mini carriers of AGV, including body and fork leg, fork leg is arranged in body side, fork leg includes accommodating chamber and driving mechanism, the driving mechanism is arranged in accommodating chamber, driving mechanism includes servo motor, transmission component and driving wheel, and servo motor is connect by transmission component with driving wheel.Driving mechanism is arranged in fork leg a kind of unmanned AGV mini carriers of the present invention, so as to reduce the volume of body, keeps carrier mini small and exquisite, and mobile flexible, elevating mechanism can enable cargo steadily to lift, and cargo is avoided to shake.
Description
Technical field
The present invention relates to the mobile engineering device technique field of unmanned automation, more particularly to a kind of mini carriers of unmanned AGV.
Background technology
AGV (Automated Guided Vehicle) refers to magnetically or optically waiting homing guidances device equipped with electricity, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions, is not required to drive in commercial Application
The carrier of member, with chargeable accumulator for its power resources.Existing AGV carriers are typically in existing carrier base
Intellectualized reconstruction is carried out on plinth, still, since the driving mechanism of traditional carrier is generally arranged in main body, the fork leg of carrier
Upper setting driven wheel, causes the volume of main body larger；In addition, the elevating mechanism generally use connecting rod of the fork leg of traditional carrier
Mechanism, when lifting, are also easy to produce swing, influence the positioning accuracy of laser navigation equipment.
Invention content
The present invention in order to solve problems in the prior art, provides a kind of volume smaller, and mobile flexible, cargo lifting is stablized
The preferably unmanned mini carriers of AGV of property.
Specific technical solution is as follows：A kind of mini carriers of unmanned AGV, including body and fork leg, fork leg are arranged in body
Side, fork leg include accommodating chamber and driving mechanism, and the driving mechanism is arranged in accommodating chamber, and driving mechanism includes servo electricity
Machine, transmission component and driving wheel, servo motor are connect by transmission component with driving wheel.
It is the attached technical scheme of the present invention below.
Preferably, the fork leg includes hoisting mechanism and lifter plate, and hoisting mechanism is arranged in accommodating chamber, described
Lifter plate is arranged above accommodating chamber, and lifter plate is connect with hoisting mechanism.
Preferably, the hoisting mechanism includes oil cylinder, swing arm unit and platform, the piston and swing arm unit of oil cylinder
Connection, swing arm unit are connect with platform, and lifter plate is arranged above platform.
Preferably, swing arm unit includes outer swing arm, interior swing arm, and rotary shaft and pivotal axis, outer swing arm pass through rotation
Axis is connect with accommodating chamber side wall, and interior swing arm is connect by pivoting axis connection, the piston of oil cylinder with outer swing arm with outer swing arm, outer swing arm
One end connect with platform activity, one end of interior swing arm is rotatablely connected with platform.
Preferably, the swing arm unit includes upper rail and lower guideway, and lower guideway is arranged in accommodating chamber bottom, on
Guide rail is arranged on platform, and the outer swing arm is equipped with the first idler wheel, and interior swing arm is equipped with the second idler wheel, and the first idler wheel is located at upper rail
In, the second idler wheel is located in lower guideway.
Preferably, the transmission component includes the first sprocket wheel, the second sprocket wheel, chain and retarder, the first sprocket wheel
It is arranged on retarder, retarder is connect with servo motor, and chain is set between the first sprocket wheel and the second sprocket wheel, the second sprocket wheel
It is connect with driving wheel.
Preferably, the fork leg has a plurality of, and a plurality of fork leg is parallel and interval is arranged, and has multigroup carry in every fork leg
Mechanism is risen, hoisting mechanism is arranged in driving mechanism both sides.
Preferably, the fork leg includes deflecting roller, and deflecting roller is arranged with driving wheel interval.
Preferably, described fork leg one end is arranged on body, and the other end is free end, and free end is equipped with anticollision
Sensor.
Preferably, the mini carriers of unmanned AGV include control unit, and control unit is arranged in body, described
Control unit includes host computer, laser navigation equipment, the first servo controller and the second servo controller, and laser navigation equipment setting exists
At the top of body, laser navigation equipment, the first servo controller, the second servo controller are communicated with host computer respectively.
The technique effect of the present invention：Driving mechanism is arranged in fork leg a kind of unmanned AGV mini carriers of the present invention,
So as to reduce the volume of body, keep carrier mini small and exquisite, movement is flexible；Meanwhile elevating mechanism can enable cargo
Enough steady liftings, avoid cargo from shaking.
Description of the drawings
Fig. 1 is a kind of schematic diagram of unmanned mini carriers of AGV of the embodiment of the present invention.
Fig. 2 is a kind of side view of unmanned mini carriers of AGV of the embodiment of the present invention.
Fig. 3 is the schematic diagram of the fork leg of the embodiment of the present invention.
Fig. 4 is the schematic diagram of the driving mechanism of the embodiment of the present invention.
Fig. 5 is the schematic diagram of the hoisting mechanism of the embodiment of the present invention.
Fig. 6 is the schematic diagram of the control unit of the embodiment of the present invention.
Specific implementation mode
In the following, the substantive distinguishing features and advantage of the present invention are further described in conjunction with example, but the present invention not office
It is limited to listed embodiment.
As shown in Figures 1 to 6, a kind of unmanned mini carriers of AGV of the present embodiment include body 1 and fork leg 2, fork leg 2
It is arranged in 1 side of body.Fork leg 2 includes accommodating chamber 3 and driving mechanism 4, and the driving mechanism 4 is arranged in accommodating chamber 3.Driving
Mechanism 4 includes servo motor 41, transmission component 42 and driving wheel 43, and servo motor 41 is connected by transmission component 42 and driving wheel 43
It connects.In above-mentioned technical proposal, by being arranged driving mechanism in fork leg, without driving mechanism, energy are arranged in body 1
The volume for enough effectively reducing body reduces the size of carrier.The power of above-mentioned servo motor 41 is passed to by transmission component
Driving wheel drives the mini carrier movements of unmanned AGV to realize the rotation of driving wheel.In the present embodiment, driving wheel has two
It is a, two driving wheel interval settings, when the mini carriers of unmanned AGV need to turn to, by the rotating speed for controlling two driving wheels
Realize differential steering.In the present embodiment, the body height of the unmanned mini carriers of AGV is 312.5mm, and the length of fork leg is
1150mm, when lifter plate does not rise, lifter plate terrain clearance is 91mm, and Pass through above-mentioned technical proposal can make the size of carrier
It is reduced relative to existing carrier.
In the present embodiment, the fork leg 2 includes hoisting mechanism 5 and lifter plate 6, and hoisting mechanism 5 is arranged in accommodating chamber 3,
The lifter plate 6 is arranged above accommodating chamber 3, and lifter plate is connect with hoisting mechanism 5.Through the above technical solutions, hoisting mechanism
It is arranged in accommodating chamber 3, the mini carrier more compact structures of unmanned AGV can be made, reduces volume；Hoisting mechanism can drive liter
Drop plate rises or falls, and when the fork leg of the mini carriers of unmanned AGV is inserted into below cargo, is risen by lifter plate, makes fork leg
Cargo can be lifted and then be moved to designated position；When cargo reaches designated position, lifter plate declines, and is positioned over ground by cargo
On face.It by above-mentioned hoisting mechanism, can realize that freight lifting height reaches 90mm, to increase the road clearance of cargo, reduce
The risk that cargo is obscured by an obstacle in transportational process.
In the present embodiment, the hoisting mechanism 5 include oil cylinder 51, swing arm unit 52 and platform 53, the piston of oil cylinder 51 with
Swing arm unit 52 connects, and swing arm unit 52 is connect with platform 53, and lifter plate is arranged above platform.In above-mentioned technical proposal, oil
Cylinder supplies power to swing arm unit so that swing arm unit can rise or fall with moving platform 53, to realize the liter of lifter plate
Drop.It is bolted between the lifter plate and platform.
In the present embodiment, swing arm unit 52 includes outer swing arm 521, interior swing arm 522, rotary shaft 523 and pivotal axis 524, outside
Swing arm 521 is connect by rotary shaft 523 with accommodating chamber side wall 31, and interior swing arm 522 is connect with outer swing arm 521 by pivotal axis 524,
The piston of oil cylinder is connect with outer swing arm, and one end of outer swing arm is connect with platform activity, and one end and the platform of interior swing arm are rotatablely connected.
In above-mentioned technical proposal, when oil cylinder pushing outer swing arm moves, outer swing arm can drive interior swing arm motion, to realize platform
Lifting.
In the present embodiment, the swing arm unit 52 includes upper rail 525 and lower guideway 526, and the setting of lower guideway 526 is accommodating
3 bottom of room, upper rail 525 are arranged on platform, and the outer swing arm 521 is equipped with the first idler wheel 10, and interior swing arm 522 is equipped with the second rolling
Wheel 20, the first idler wheel is located in upper rail, and the second idler wheel is located in lower guideway.Through the above technical solutions, so that the first idler wheel
It is rolled in upper rail and lower guideway respectively with the second idler wheel, to which podium level can be changed after so that inside and outside swing arm is rotated.Into
One step, swing arm unit 52 further includes spring 527, and 527 one end of spring is fixed in accommodating chamber, and the other end is connect with platform, from
And when spring platform being made to increase, spring is stretched, and when platform needs to decline, the restoring force of spring can dry assistance platform decline.
It in the present embodiment, is connected by connecting rod between two interior swing arms, is connected by another connecting rod between two outer swing arms
It connects, to enable the interior swing arm of platform both sides, outer swing arm to link.
The operation principle of the hoisting mechanism of the present embodiment is：Hydraulic oil, which is provided, by pumping plant 8 enters oil cylinder, the piston fortune of oil cylinder
Dynamic, the connecting rod between piston and outer swing arm is hinged, and piston driving outer swing arm is rotated along rotary shaft, while driving interior swing arm fortune
Dynamic, the first, second idler wheel of inside and outside swing arm end slides in upper and lower rails respectively at this time, reaches platform carrying from low to high
Rise purpose.Conversely, the oil inlet by control cylinder is connected to oil cylinder, under the gravity of cargo peace playscript with stage directions body in oil cylinder
Hydraulic oil outflow back to fuel tank from Cylinder Plunger lower end, inside and outside swing arm is moved along the reverse orbit of enhancing action, final platform
Drop to extreme position.Hoisting mechanism through this embodiment can make lifting more stable；Meanwhile when multigroup hoisting mechanism is same
When lifting, lift consistency convenient for controlling its, reduce cargo pendulation, avoid having an impact laser navigation equipment.
In the present embodiment, the transmission component 42 includes the first sprocket wheel 421, the second sprocket wheel 422, chain 423 and retarder
424, the first sprocket wheel 421 is arranged on retarder 424, and retarder 424 is connect with servo motor 41, and chain 423 is set in first
Between sprocket wheel and the second sprocket wheel, the second sprocket wheel 422 is connect with driving wheel 43.In above-mentioned technical proposal, servo motor passes through deceleration
Device adjusts so that the first sprocket wheel output rotating speed appropriate and torque, the second sprocket wheel, the second sprocket wheel are imparted power to by chain
Drive driving wheel rotation.In the present embodiment, transmitting assembly further includes electromagnetic brake 425, and electromagnetic brake setting is in servo electricity
On machine, so as to adjust the rotation of servo motor.
In the present embodiment, the fork leg 2 has a plurality of, and a plurality of fork leg is parallel and interval setting, has multigroup carry in every fork leg
Mechanism 5 is risen, hoisting mechanism is arranged in driving mechanism both sides.In the present embodiment, fork leg has two, is carried equipped with two groups in every fork leg
Mechanism is risen, the unmanned mini carriers of AGV form matrix form elevating mechanism, promote the stationarity of cargo lifting.
In the present embodiment, the fork leg 2 includes deflecting roller 21, and deflecting roller 21 is arranged with the interval of driving wheel 43.The present embodiment
In, deflecting roller is driven wheel, and deflecting roller is universal wheel, so as to follow the direction of motion of the mini carriers of unmanned AGV to carry out
Movement.
In the present embodiment, 2 one end of the fork leg is arranged on body, and the other end is free end 22, and free end 22 is equipped with anti-
Crash sensor 23.By the way that anti-collision sensor is arranged, can make whether have barrier in front of the mini carrier perception fork legs of unmanned AGV
Hinder object.
The unmanned mini carriers of AGV include control unit 7, and control unit 7 is arranged in body 1.Described control unit 7 is wrapped
Host computer 71, laser navigation equipment 72, the first servo controller 73 and the second servo controller 74 are included, the setting of laser navigation equipment 72 exists
1 top of body, laser navigation equipment 72, the first servo controller 73, the second servo controller 74 are communicated with host computer 71 respectively.On
It states in technical solution, the mini carriers of unmanned AGV can be positioned by laser navigation equipment.Laser navigation equipment and anticollision sensing
The signal of device is sent to host computer, and host computer sends a signal to servo controller after data processing, and servo controller can
Control driving mechanism action.Those skilled in the art also can be applied to the application using automated navigation system in the prior art
In to realize the self-navigation and control of carrier.Energy is provided by battery 9 in the present embodiment, power switch 30 is for starting
Or battery powered is closed, emergency stop switch 40 is in emergency circumstances making the mini carriers of unmanned AGV stop operation.
Driving mechanism is arranged in fork leg a kind of unmanned mini carriers of AGV of the present embodiment, so as to reduce machine
The volume of body keeps carrier mini small and exquisite, mobile flexible；Meanwhile elevating mechanism can enable cargo steadily to lift, and avoid
Cargo shakes.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
Those skilled in the art can understand the contents of the present invention and implements according to this, and the protection of the present invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of mini carriers of unmanned AGV, which is characterized in that including body and fork leg, fork leg is arranged in body side, fork leg
Including accommodating chamber and driving mechanism, the driving mechanism is arranged in accommodating chamber, and driving mechanism includes servo motor, transmission component
And driving wheel, servo motor are connect by transmission component with driving wheel.
2. the mini carriers of unmanned AGV according to claim 1, which is characterized in that the fork leg include hoisting mechanism and
Lifter plate, hoisting mechanism are arranged in accommodating chamber, and the lifter plate is arranged above accommodating chamber, and lifter plate connects with hoisting mechanism
It connects.
3. the mini carriers of unmanned AGV according to claim 2, which is characterized in that the hoisting mechanism includes oil cylinder, pendulum
The piston of arm component and platform, oil cylinder is connect with swing arm unit, and swing arm unit is connect with platform, and lifter plate is arranged on platform
Side.
4. the mini carriers of unmanned AGV according to claim 3, which is characterized in that swing arm unit includes outer swing arm, interior pendulum
Arm, rotary shaft and pivotal axis, outer swing arm are connect by rotary shaft with accommodating chamber side wall, and interior swing arm is connected with outer swing arm by pivotal axis
It connects, the piston of oil cylinder is connect with outer swing arm, and one end of outer swing arm is connect with platform activity, and one end and the platform rotation of interior swing arm connect
It connects.
5. the mini carriers of unmanned AGV according to claim 4, which is characterized in that the swing arm unit includes upper rail
And lower guideway, lower guideway setting are arranged in accommodating chamber bottom, upper rail on platform, the outer swing arm is equipped with the first idler wheel, interior
Swing arm is equipped with the second idler wheel, and the first idler wheel is located in upper rail, and the second idler wheel is located in lower guideway.
6. the mini carriers of unmanned AGV according to claim 1, which is characterized in that the transmission component includes the first chain
Wheel, the second sprocket wheel, chain and retarder, the first sprocket wheel are arranged on retarder, and retarder is connect with servo motor, and chain is arranged
Between the first sprocket wheel and the second sprocket wheel, the second sprocket wheel is connect with driving wheel.
7. the mini carriers of unmanned AGV according to claim 2, which is characterized in that the fork leg has a plurality of, a plurality of fork leg
Parallel and interval is arranged, and has multigroup hoisting mechanism, hoisting mechanism to be arranged in driving mechanism both sides in every fork leg.
8. the mini carriers of unmanned AGV according to claim 1, which is characterized in that the fork leg includes deflecting roller, is turned to
Wheel is arranged with driving wheel interval.
9. the mini carriers of unmanned AGV according to claim 1, which is characterized in that described fork leg one end is arranged in body
On, the other end is free end, and free end is equipped with anti-collision sensor.
10. the mini carriers of unmanned AGV according to claim 1, which is characterized in that the unmanned mini carriers of AGV include
Control unit, control unit are arranged in body, and described control unit includes host computer, laser navigation equipment, the first SERVO CONTROL
Device and the second servo controller, laser navigation equipment are arranged at the top of body, and laser navigation equipment, the first servo controller, second are watched
Controller is taken to communicate with host computer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844219.8A CN108622823A (en) | 2018-07-27 | 2018-07-27 | A kind of mini carriers of unmanned AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810844219.8A CN108622823A (en) | 2018-07-27 | 2018-07-27 | A kind of mini carriers of unmanned AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108622823A true CN108622823A (en) | 2018-10-09 |
Family
ID=63690071
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810844219.8A Pending CN108622823A (en) | 2018-07-27 | 2018-07-27 | A kind of mini carriers of unmanned AGV |
Country Status (1)
| Country | Link |
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| CN (1) | CN108622823A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946586A (en) * | 2018-09-14 | 2018-12-07 | 浙江斐尔德智能设备有限公司 | Mobyneb automated guided vehicle |
| CN109205523A (en) * | 2018-11-30 | 2019-01-15 | 中联重科安徽工业车辆有限公司 | Pallet fork formula AGV trolley |
| CN109437054A (en) * | 2018-11-20 | 2019-03-08 | 潍坊路加精工有限公司 | A kind of automated guided vehicle |
| CN109534233A (en) * | 2019-01-03 | 2019-03-29 | 苏州海豚之星智能科技有限公司 | A kind of automatic guided vehicle |
| CN109823990A (en) * | 2019-03-18 | 2019-05-31 | 重庆智享物流设备有限公司 | Lifting body, removal mechanism, handling device |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110342430A (en) * | 2019-07-09 | 2019-10-18 | 上海快仓智能科技有限公司 | Ground ox |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108946586A (en) * | 2018-09-14 | 2018-12-07 | 浙江斐尔德智能设备有限公司 | Mobyneb automated guided vehicle |
| CN109437054A (en) * | 2018-11-20 | 2019-03-08 | 潍坊路加精工有限公司 | A kind of automated guided vehicle |
| CN109205523A (en) * | 2018-11-30 | 2019-01-15 | 中联重科安徽工业车辆有限公司 | Pallet fork formula AGV trolley |
| CN109534233A (en) * | 2019-01-03 | 2019-03-29 | 苏州海豚之星智能科技有限公司 | A kind of automatic guided vehicle |
| CN109823990A (en) * | 2019-03-18 | 2019-05-31 | 重庆智享物流设备有限公司 | Lifting body, removal mechanism, handling device |
| CN110092151A (en) * | 2019-05-29 | 2019-08-06 | 中匠机器人(深圳)有限公司 | A kind of automatic guided vehicle |
| CN110342430A (en) * | 2019-07-09 | 2019-10-18 | 上海快仓智能科技有限公司 | Ground ox |
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