CN111924024A

CN111924024A - Automatic guided vehicle

Info

Publication number: CN111924024A
Application number: CN201910394842.2A
Authority: CN
Inventors: 过金超; 宋浩; 何白冰
Original assignee: Henan Senyuan Electric Co Ltd
Current assignee: Henan Senyuan Electric Co Ltd
Priority date: 2019-05-13
Filing date: 2019-05-13
Publication date: 2020-11-13

Abstract

The invention relates to the technical field of AGV vehicles, in particular to an automatic guided vehicle which comprises a vehicle body and brushes, wherein wheels are mounted on the vehicle body, an elastic damping mechanism is arranged between the vehicle body and the wheels, the brushes are vertically assembled on the vehicle body in a reciprocating manner, an electric driving device is mounted on the vehicle body and is in transmission connection with the brushes so as to correspondingly drive the brushes to ascend and descend when the vehicle body descends and ascends relative to the wheels. During the loading and unloading processes, the hairbrush correspondingly adjusts the height of the hairbrush from the ground through the electric driving device when the vehicle body descends and ascends, so that the hairbrush is not bent due to contact with the ground, normal cleaning work can be carried out, and the normal work of the automatic guided vehicle is ensured.

Description

Automatic guided vehicle

Technical Field

The invention relates to the technical field of AGV vehicles, in particular to an automatic guided vehicle.

Background

An AGV (automatic guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guide device and capable of traveling along a predetermined guide path. The travel route and behavior can be controlled by a computer or set by an electromagnetic track. However, when the AGV travels in a relatively messy work site, foreign materials such as plastic and paper dust left on the ground interfere with the travel of the AGV, and even cause the AGV to collide.

In the prior art, the obstacle clearing device is arranged on the AGV to clear sundries on a running path of the AGV. Chinese utility model patent if grant bulletin number is CN206466623U discloses an AGV commodity circulation dolly, including the locomotive, the locomotive front end is provided with the protection casing, and the bottom of protection casing is equipped with the brush, realizes cleaning the debris on the AGV traffic route through the brush, guarantees AGV's normal work.

When the AGV runs on an uneven road surface, in order to avoid the AGV from jolting during the running process, a damping mechanism is generally installed at a driving wheel of the AGV in the prior art. Chinese utility model patent that bulletin number is CN206086257U discloses a shock attenuation drive wheel subassembly, shock attenuation drive wheel subassembly includes the drive wheel body and is used for assembling the connecting seat on the drive wheel body, lie in all having up holding surface on the relative both sides of drive wheel body on the connecting seat, all be equipped with the elastic support unit on every holding surface, the elastic support unit is including setting up the damping spring who is used for bearing the automobile body on the holding surface, when the AGV went unevenness subaerial, each drive wheel can rely on damping spring's flexible, it is flexible for the automobile body to make the drive wheel, guarantee the stability of AGV driving process.

However, after loading the goods on AGV's the automobile body, the dead weight of goods is resisted damper's elastic force and is being pressed the automobile body and is being removed downwards, and simultaneously, the brush of installing on the automobile body is along with the automobile body downstream together, makes the brush meet ground and is obstructed and take place the bending, influences the normal work of brush, and the resistance of marcing can be increased to the brush simultaneously, increases AGV power consumption at the during operation, influences AGV's work efficiency.

Disclosure of Invention

The invention provides an automatic guided vehicle, which aims to solve the technical problem that after goods are loaded on a vehicle body of an AGV in the prior art, the self weight of the goods resists the elastic force of a damping mechanism to press the vehicle body to move downwards, and meanwhile, a hairbrush arranged on the vehicle body is downward along with the vehicle body, so that the hairbrush is blocked on the ground and is bent.

In order to achieve the purpose, the technical scheme of the automatic guided vehicle provided by the invention is as follows:

the automatic guided vehicle comprises a vehicle body and a brush, wheels are mounted on the vehicle body, an elastic damping mechanism is arranged between the vehicle body and the wheels, the brush is vertically assembled on the vehicle body in a reciprocating manner, an electric driving device is mounted on the vehicle body, and the electric driving device is in transmission connection with the brush so as to correspondingly drive the brush to ascend and descend when the vehicle body descends and ascends relative to the wheels.

The beneficial effects are that: when goods are loaded on the body of the automatic guided vehicle, the self weight of the goods resists the elastic force of the elastic damping mechanism to press the body to descend, the hairbrush arranged on the body descends along with the body, at the moment, the electric driving device is started to drive the hairbrush to ascend, so that the hairbrush keeps a set height with the ground, the hairbrush is prevented from being contacted with the ground to be bent and worn in the running process, the hairbrush cannot influence the normal running of the automatic guided vehicle, and meanwhile, the hairbrush can still perform a cleaning function, so that the normal work of the automatic guided vehicle is ensured; in addition, when goods are unloaded, the elastic damping mechanism props the vehicle body to rise under the action of elastic force, the brush rises along with the vehicle body, the distance between the brush and the ground is larger than a set height at the moment, normal cleaning work cannot be carried out, and the electric driving device is started to drive the brush to descend, so that the distance between the brush and the ground is restored to the set height, and normal cleaning work is guaranteed.

Furthermore, a position monitoring device for monitoring the lifting of the vehicle body relative to the wheels and a controller in signal connection with the position monitoring device are arranged on the vehicle body, and the controller is in control connection with the electric drive device to control the electric drive device to act when the vehicle body is lifted relative to the wheels.

The beneficial effects are that: through set up position monitoring device and controller on the automobile body, can realize electric drive arrangement to the automatic control of brush height adjustment to guarantee the normal marcing of automated guided vehicle, it is more intelligent and convenient.

Furthermore, the vehicle body comprises a frame and a wheel mounting seat, the wheel is arranged on the wheel mounting seat, the elastic damping mechanism is arranged between the frame and the wheel mounting seat, and the position monitoring device is a distance sensor arranged on the frame or the wheel mounting seat.

The beneficial effects are that: the distance sensor is arranged on the frame or the wheel mounting seat, so that the vertical position of the vehicle body can be monitored conveniently, the electric driving device can be controlled more accurately to adjust the position of the brush, and the normal running of the automatic guided vehicle is guaranteed.

Further, the electric driving device is a driving motor, and an output shaft of the driving motor is in spiral transmission connection with the brush so as to drive the brush to ascend or descend when the output shaft of the driving motor rotates.

The beneficial effects are that: the output shaft of the driving motor is connected with the hairbrush in a spiral transmission mode, the connecting structure is simplified, the processing and the installation are convenient, the position of the hairbrush can be conveniently and directly adjusted through the driving motor, and meanwhile, the control is more accurate through threaded connection.

Furthermore, a threaded hole extending in the vertical direction is formed in the brush, and an external thread matched with the threaded hole in a threaded manner is arranged on an output shaft of the driving motor.

The beneficial effects are that: the direct threaded hole that sets up on the brush sets up the external screw thread with threaded hole complex on the output shaft, simple structure, convenient processing.

Furthermore, a limiting plate is fixedly arranged on the vehicle body between the driving motor and the brush, a shaft shoulder is arranged on an output shaft of the driving motor, and the limiting plate is provided with a blocking surface for vertically blocking the shaft shoulder to prevent the output shaft of the driving motor from moving.

The beneficial effects are that: through the spacing cooperation of limiting plate and shaft shoulder, prevent that driving motor's output shaft from taking place axial float, increase driving motor's life.

Further, the brush comprises a brush body and a fixing block fixedly connected with the brush body, and the fixing block is provided with the threaded hole.

The beneficial effects are that: be provided with the screw hole with driving motor's output shaft threaded connection on the fixed block, the fixed block is connected with brush fixed connection again, realizes promptly that brush and driving motor's transmission is connected through the fixed block, simple structure, convenient equipment.

Furthermore, one side of the fixed block, which faces the brush body, is provided with a fixed hole, and the fixed block and the brush body are matched with a fastener through the fixed hole to realize fixed connection.

The beneficial effects are that: the brush body is fixedly connected with the fixing block through the fastening piece, so that the fixing block is convenient to connect and fix, and the cost is saved.

Further, the automobile body is the cuboid, the automobile body has four lateral walls, the quantity of brush is four and the one-to-one arranges the inboard of four lateral walls of automobile body.

The beneficial effects are that: the brushes are arranged on the inner sides of the four side walls of the vehicle body in a one-to-one correspondence mode, namely the brushes can clean the periphery of the automatic guided vehicle, and meanwhile, when the automatic guided vehicle adopts the optical automatic guiding device to guide the trolley to move, light can be shielded, light interference outside the vehicle body is avoided, and guiding accuracy is guaranteed.

Further, the brush comprises brush bodies and fixing blocks fixedly connected with the brush bodies, the fixing blocks are arranged between every two adjacent brush bodies and are fixedly connected with the two brush bodies respectively, and the electric driving device is in transmission connection with the corresponding brush bodies through the fixing blocks.

The beneficial effects are that: and one fixing block is connected with two adjacent brush bodies, so that the number of motors is reduced, and the cost of the automatic guided vehicle is saved.

Drawings

FIG. 1 is a schematic structural view of an embodiment of the automated guided vehicle of the present invention;

FIG. 2 is a sectional view taken along line A-A of FIG. 1;

FIG. 3 is an enlarged view taken at I in FIG. 1;

in the figure, 1-vehicle shell; 2-driving the motor; 3-a limiting plate; 4-wheel mounting seats; 5-vehicle wheels; 6-a frame; 7-an elastic damping mechanism; 8-an output shaft; 9-brush body; 10-a distance sensor; 11-a controller; 12-fixing blocks; 13-shaft shoulder; and 14, fixing a plate.

Detailed Description

The following describes the automated guided vehicle according to an embodiment of the present invention with reference to the drawings.

As shown in fig. 1 to 3, the automatic guided vehicle of the present invention includes a vehicle body and a brush mounted on the vehicle body, wherein the vehicle body is mounted with wheels 5, an elastic damping mechanism 7 is disposed between the vehicle body and the wheels 5, the brush is vertically movably assembled on the vehicle body, the vehicle body is mounted with a driving motor 2, and the driving motor 2 is in spiral transmission connection with the brush to correspondingly drive the brush to ascend and descend when the vehicle body descends and ascends.

Specifically, as shown in fig. 1 and 3, the vehicle body includes a vehicle shell 1 and a vehicle frame 6 installed in the vehicle shell 1, wherein the vehicle shell 1 is rectangular, and the vehicle body further includes a wheel mounting seat 4. Specifically, four elastic damping mechanisms 7 are installed on the frame 6, the elastic damping mechanisms 7 are located between the frame 6 and the wheel mounting seat 4, the wheel 5 is installed below the wheel mounting seat 4, and the elastic damping mechanisms 7 are mature products in the prior art and are not described herein again. When the automatic guided vehicle is loaded with goods, although the elastic damping mechanism 7 can provide an upward elastic jacking function for the vehicle body through the vehicle frame 6, the vehicle body is pressed to descend by the self weight of the goods against the elastic force of the elastic damping mechanism 7, and at the moment, the brush can be contacted with the ground to be bent, so that the brush is abraded in the running process, and the normal running of the automatic guided vehicle is influenced.

Therefore, in order to avoid the occurrence of such a situation, four driving motors 2 are correspondingly fixed on the inner side walls at the four corners of the vehicle shell 1 through the fixing plates 14, the output shafts 8 of the driving motors 2 face downwards vertically, and each output shaft 8 is in transmission connection with the corresponding brush. Specifically, the brush includes brush body 9 and fixed block 12, and fixed block 12 is the cuboid, is equipped with the vertical screw hole that runs through fixed block 12 on fixed block 12, is provided with the external screw thread with the screw hole adaptation on the lower extreme outer peripheral face of output shaft 8, and fixed block 12 is connected with 8 screw drive of output shaft, and 8 forward rotations of output shaft, and fixed block 12 rises through the thread engagement, and 8 reverse rotations of output shaft, fixed block 12 descends.

One side of the fixed block 12 facing the brush body 9 is provided with a fixed hole, and the fixed block 12 is fixed on the brush body 9 by matching with the fixed hole through a screw. In this embodiment, four side walls of the vehicle body are formed by four side walls of the vehicle shell 1, the four brush bodies 9 are correspondingly arranged on the inner sides of the four side walls one by one through the fixing blocks 12, and the two adjacent brush bodies 9 are connected through one fixing block 12, so that the four brush bodies 9 are connected end to end through the four fixing blocks 12 to form a closed loop located in the vehicle shell 1, and the fixing blocks 12 are arranged on the inner sides of the connecting positions of the two adjacent brush bodies 9. When the automatic guided vehicle adopts the optical automatic guiding device to guide the trolley to move, the closed loop formed by the four brush bodies 9 can shield light, so that the light interference outside the vehicle body is avoided, and the guiding accuracy is ensured.

The distance sensors 10 are installed on the vehicle frame 6 corresponding to the wheel mounting seats 4, the distance sensors 10 are used for monitoring the relative distance between the wheel mounting seats 4 and the vehicle frame 6 and further reflecting the relative height between the hairbrush and the ground, the distance sensors 10 are connected with a controller 11 arranged in the vehicle body through lead signals, the controller 11 is connected with the driving motor 2 through lead control, data monitored by the distance sensors 10 are transmitted to the controller 11, the controller 11 controls the rotation amount of the driving motor 2 through data operation, the distance sensors 10 can be sensors such as infrared sensors, ultrasonic sensors and laser sensors, and limitation is not made herein.

The limiting plates 3 are fixedly arranged between the driving motor 2 and the corresponding brushes on the vehicle shell 1, as shown in fig. 3, each limiting plate 3 is vertically fixed on the inner side wall of the vehicle shell 1, a penetrating hole for the output shaft 8 to penetrate through is formed in each limiting plate 3, the output shaft 8 penetrates through the limiting plates 3 from top to bottom, a shaft shoulder 13 which is in limit fit with the limiting plates 3 along the vertical direction is arranged on a polished rod section (above an external thread part of the output shaft 8) of the output shaft 8, the upper end face of each limiting plate 3 is a blocking face which vertically blocks the shaft shoulder 13 to prevent the output shaft 8 of the driving motor 2 from axially moving, namely, the shaft shoulder 13 is in blocking fit with the hole of the penetrating hole to prevent the output shaft 8 from axially moving and influence the service life of the driving motor 2.

When the automatic guided vehicle of the invention is loaded with goods, the self weight of the goods resists the elastic force of the elastic damping mechanism 7 to press the vehicle body to descend relative to the wheels, when the distance sensor 10 detects that the distance between the vehicle frame 6 and the wheel mounting seat 4 is less than the set distance, the distance between the corresponding brush and the ground is less than the set height, the distance sensor 10 sends a signal to the controller 11, after the controller 11 receives the signal, the driving motor 2 is controlled to work, the output shaft 8 rotates in the positive direction, the fixed block 12 rises due to the threaded connection of the fixed block 12 and the output shaft 8, thereby driving the brush body 9 to rise to a set height (the set height is the height of the brush relative to the ground when the brush works normally; the set distance is the relative distance between the frame 6 and the wheel mounting seat 4 when the brush is positioned at the set height), so that the brush can not influence the normal running of the automatic guided vehicle and can still perform the cleaning function. When goods are unloaded, the elastic shock absorption mechanism 7 upwards supports the vehicle body, the vehicle body rises relative to the wheels 5, the brush body 9 rises along with the rise of the brush body, at the moment, the relative distance between the wheel mounting seat 4 and the vehicle frame 6 returns to a set distance, but the distance between the brush and the ground is larger than the set height, the distance sensor 10 sends a signal to the controller 11, after the controller 11 receives the signal, the driving motor 2 is controlled to work, the output shaft 8 rotates reversely, and the fixed block 12 drives the brush body 9 to fall to the set height away from the ground, therefore, in the whole process, the brush body can be adjusted to keep the brush at the set height when the vehicle body falls and rises, the brush body 9 cannot be bent due to contact with the ground, the normal work of the automatic guided vehicle is guaranteed, and the cleaning function can still be carried out.

In this embodiment, through the work of position detection device collocation controller automatic control driving motor, in other embodiments, can observe the descending distance of automobile body through the people's eye, the work of manual control driving motor adjusts the ground height apart from of brush.

In this embodiment, the position monitoring device is a distance sensor, in other embodiments, the position monitoring device may be a weight sensor, and the conversion is performed according to the deformation of the elastic damping mechanism when the elastic damping mechanism receives gravity, for example, the elastic damping mechanism includes a spring, and the descending height of the vehicle body is calculated by using the relationship between the load of the automated guided vehicle and the deformation of the spring, and is fed back to the controller, so as to adjust the position of the brush according to the descending height.

In this embodiment, the distance sensor is mounted on the frame, and in other embodiments, may be mounted on the wheel mount to monitor the distance between the frame and the wheel mount.

In this embodiment, the driving device is a driving motor, in other embodiments, the electric driving device is an electric push rod, a telescopic rod of the electric push rod is fixedly connected with the brush, and the brush is lifted or lowered through the telescopic rod.

In this embodiment, be provided with the external screw thread on the output shaft, be provided with the screw hole with the output shaft adaptation on the fixed block, in other embodiments, can set up the screw rod on the brush, set up on the output shaft with screw rod screw-thread fit's screw hole.

In this embodiment, be provided with the limiting plate on the hull, be provided with on the output shaft with the spacing shaft shoulder of cooperation of limiting plate, in other embodiments, limiting plate and shaft shoulder can not be established.

In the embodiment, the fixing block is connected with the brush through a screw, and in other embodiments, the fixing block may be connected with the brush by welding.

In this embodiment, the threaded hole penetrates through the fixing block, and in other embodiments, the threaded hole may be a blind hole with an upward opening.

In this embodiment, the fixed block is the cuboid, and the fixed block passes through screw and brush fixed connection, and in other embodiments, the fixed block can be the cylinder block, and the fixed block passes through welded fastening with the brush and links together.

In this embodiment, the brushes are disposed on the inner sides of the four side walls, and in other embodiments, the brushes may be disposed on the outer sides of the four side walls, respectively, and the corresponding motors are disposed on the outer sides of the four side walls.

In the embodiment, two adjacent brushes are connected through one fixed block, in other embodiments, two fixed blocks are arranged on the inner side of the connecting position of the two adjacent brushes, the two fixed blocks are respectively arranged at the end parts of the corresponding brushes, and each fixed block corresponds to one driving motor.

In the embodiment, the four brush bodies are connected together end to end by the fixing block, in other embodiments, the four brush bodies can be directly connected end to form a whole, and the fixing block is only fixed with the connected brush bodies through screws, so that the four brush bodies are not connected together any more.

In this embodiment, the brush body passes through the fixed block transmission and connects on the output shaft, in other embodiments, can not set up the fixed block, through set up the screw hole on the brush body with brush body direct drive connection on the output shaft, but this moment, the thickness of brush body is thicker to reserve the position of screw hole.

Claims

1. The utility model provides an automatic guided vehicle, includes automobile body and brush, installs the wheel on the automobile body, be equipped with elasticity damper between automobile body and the wheel, its characterized in that: the brush is vertically assembled on the vehicle body in a reciprocating manner, an electric driving device is mounted on the vehicle body, and the electric driving device is in transmission connection with the brush so as to correspondingly drive the brush to ascend and descend when the vehicle body descends and ascends relative to the wheels.

2. The automated guided vehicle of claim 1, wherein: the vehicle body is provided with a position monitoring device for monitoring the lifting of the vehicle body relative to the wheels and a controller for signal connection with the position monitoring device, and the controller is in control connection with the electric drive device to control the action of the electric drive device when the vehicle body is lifted relative to the wheels.

3. The automated guided vehicle of claim 2, wherein: the automobile body includes frame and wheel mount pad, the wheel sets up on the wheel mount pad, elasticity damper sets up between frame and wheel mount pad, position monitoring device is for installing distance sensor on frame or the wheel mount pad.

4. The automated guided vehicle of any one of claims 1-3, wherein: the electric driving device is a driving motor, and an output shaft of the driving motor is in spiral transmission connection with the brush so as to drive the brush to ascend or descend when the output shaft of the driving motor rotates.

5. The automated guided vehicle of claim 4, wherein: the brush is provided with a threaded hole extending along the vertical direction, and an output shaft of the driving motor is provided with an external thread matched with the threaded hole in a threaded manner.

6. The automated guided vehicle of claim 4, wherein: the vehicle body is fixedly provided with a limiting plate between the driving motor and the hairbrush, the output shaft of the driving motor is provided with a shaft shoulder, and the limiting plate is provided with a blocking surface for vertically blocking the shaft shoulder to prevent the output shaft of the driving motor from moving.

7. The automated guided vehicle of claim 5, wherein: the hairbrush comprises a hairbrush body and a fixing block fixedly connected with the hairbrush body, and the fixing block is provided with the threaded hole.

8. The automated guided vehicle of claim 7, wherein: one side of the fixed block, which faces the brush body, is provided with a fixed hole, and the fixed block and the brush body are matched with a fastener through the fixed hole to realize fixed connection.

9. The automated guided vehicle of any one of claims 1-3, wherein: the automobile body is the cuboid, the automobile body has four lateral walls, the quantity of brush is four and the one-to-one arrangement is in the inboard of four lateral walls of automobile body.

10. The automated guided vehicle of claim 9, wherein: the hairbrush comprises hairbrush bodies and fixing blocks fixedly connected with the hairbrush bodies, the fixing blocks are arranged between every two adjacent hairbrush bodies and are fixedly connected with the two hairbrush bodies respectively, and the electric driving device is in transmission connection with the corresponding hairbrush bodies through the fixing blocks.