CN112758571A

CN112758571A - Omnidirectional hidden traction type AGV

Info

Publication number: CN112758571A
Application number: CN202011411192.7A
Authority: CN
Inventors: 胡松; 曹雏清; 高云峰; 徐俊; 胡超
Original assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Current assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Priority date: 2020-12-04
Filing date: 2020-12-04
Publication date: 2021-05-07

Abstract

The invention discloses an omnidirectional latent traction type AGV (automatic guided vehicle), which comprises a vehicle body, and a driving device and driven wheels which are arranged on the vehicle body, wherein the number of the driven wheels is four, the four driven wheels are arranged around the bottom of the vehicle body, the number of the driving devices is two, and the driving device comprises a steering wheel mounting frame and a steering wheel device which is arranged on the steering wheel mounting frame and is used for providing driving force. The omnidirectional latent traction type AGV adopts a mode of driving by two rudders and auxiliary supporting by four movable trundles, and the sufficient adhesive force is kept between the steering wheel and a working road surface through the suspension device, so that the AGV has the omnidirectional movement capability of accurate driving control, has the damping and buffering capability and protects the steering wheel device; in addition, the automatic guided vehicle provided by the invention has the advantages of simple structure, strong traction capability, manual charging and automatic charging capabilities, working space saving and capability of overcoming the technical defects of the existing latent AGV.

Description

Omnidirectional hidden traction type AGV

Technical Field

The invention belongs to the technical field of automatic production equipment, and particularly relates to an omnidirectional latent traction type AGV.

Background

An AGV is a short-hand transport vehicle equipped with an electromagnetic or photoelectric automatic guide device, and capable of automatically traveling along a predetermined guide path, and has a programming and mode selection device, a safety protection device, and various transfer functions.

With the acceleration development of the solid economy, the reduction of labor force and the increase of cost in China, the AGV has the characteristics of high automation degree, safety, flexibility and the like, so that the demand of the AGV is increasing day by day, and the AGV is widely applied to the industries of automatic production and storage systems such as automobile manufacturing, machining and the like at present.

The conventional AGV generally has two modes of a traction type and a hidden type, but the navigation mode of the AGV is basically bidirectional operation, or the driving module is controlled by the control module to drive the AGV to move forwards or turn, so that the deviation on a line is easy to occur.

In order to solve the above problems, patent document CN106476929A discloses an omnidirectional latent AGV cart, which is characterized in that a gear set and a rotating motor are added in a driving module of a conventional latent AGV to realize steering of the driving module, and the problem of insufficient precision in signal transmission between the driving module and a control module of the conventional AGV is solved by a mechanical structure, but the type selection of a damping spring of the driving structure with autorotation is inconsistent with the lifting capability of the driving module due to the compatibility of the attachment rate of the driving and the lifting capability of the driving module, so that the phenomenon of damage of the lifting motor or slipping of the driving module is easy to occur, the structure is complex, and the stability is poor; patent document CN103412593A discloses a latent AGV moving transfer robot, which is structured as a conventional latent AGV, cannot realize omnidirectional movement, and is limited by a working space in use; patent document CN106476929A discloses a latent traction AGV transport vehicle, which can directly perform latent traction and reconstruction of traction devices on original equipment, but its essential structure is also a traditional latent AGV, which cannot realize omnidirectional movement, and its use is limited by working space.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an omnidirectional latent traction type AGV, and aims to improve the accuracy of driving control.

In order to achieve the purpose, the invention adopts the technical scheme that: towed AGV dolly of hiding of qxcomm technology, including the automobile body and set up drive arrangement on the automobile body and follow the driving wheel, set up four altogether from the driving wheel, four arrange from the driving wheel the bottom of automobile body is all around, drive arrangement sets up two altogether, and drive arrangement includes the steering wheel mounting bracket and sets up the steering wheel device that just is used for providing drive power on the steering wheel mounting bracket.

The two driving devices are positioned on the same straight line parallel to the length direction of the vehicle body.

The driving device further comprises a fixed bottom plate connected with the vehicle body, an ear seat arranged at one end of the fixed bottom plate, a buffer spring arranged on the guide rod and a spring pressing plate arranged on the guide rod and above the buffer spring, wherein the guide rod and the buffer spring are sleeved at the other end of the fixed bottom plate, one end of the steering wheel mounting frame is rotatably connected with the ear seat, and the other end of the steering wheel mounting frame is clamped between the buffer spring and the fixed bottom plate.

The ear seat is provided with two.

The guide rods are arranged in two.

The vehicle body is provided with two traction devices, and the two traction devices are arranged in the middle of the vehicle body in an oblique diagonal manner.

The towed AGV dolly of hiding of qxcomm technology still including set up in fill the device on the automobile body ground, fill the device including ground fill mounting bracket, brush piece mounting panel, set up the brush piece on the brush piece mounting panel, set up fill on the mounting bracket and be connected with the brush piece mounting panel and be used for controlling the brush piece mounting panel and carry out the electric putter that goes up and down and the optical axis of being connected with the brush piece mounting panel, fill on the mounting bracket and set up in optical axis matched with linear bearing.

The optical axis sets up two, electric putter is located between two optical axes.

The ground charging device further comprises a fixed seat connected with the ground charging installation frame, the fixed seats are provided with two brush blocks located between the two fixed seats, and the fixed seats are connected with the vehicle body.

The omnidirectional latent traction type AGV adopts a mode of driving by two rudders and auxiliary supporting by four movable trundles, and the sufficient adhesive force is kept between the steering wheel and a working road surface through the suspension device, so that the AGV has the omnidirectional movement capability of accurate driving control, has the damping and buffering capability and protects the steering wheel device; in addition, the automatic guided vehicle provided by the invention has the advantages of simple structure, strong traction capability, manual charging and automatic charging capabilities, working space saving and capability of overcoming the technical defects of the existing latent AGV.

Drawings

The description includes the following figures, the contents shown are respectively:

FIG. 1 is a schematic view of an omnidirectional latent traction AGV of the present invention;

FIG. 2 is a schematic diagram of the general configuration of the bottom view of the omnidirectional latent traction AGV of the present invention;

FIG. 3 is a schematic view of a driving device;

FIG. 4 is a schematic view of the ground filling apparatus;

labeled as: 1. a vehicle body; 11. welding the vehicle body; 111. a control monitoring panel; 112. an anti-collision strip; 113. Laser obstacle avoidance; 114. a manual charging port; 12. a side cover plate; 13. a middle cover plate; 2. a traction device; 3. A driven wheel; 4. a drive device; 41. fixing the bottom plate; 42. an ear mount; 43. a mandrel; 44. a steering wheel mounting bracket; 45. a spring pressing plate; 46. a buffer spring; 47. a steering wheel device; 5. a ground charging device; 51. a fixed seat; 52. a guide shaft support; 53. a ground charge mounting rack; 54. a linear bearing; 55. an optical axis; 56. an electric push rod; 57. a brush block mounting plate; 58. and (7) brushing blocks.

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.

As shown in fig. 1 to 4, the present invention provides an all-directional latent traction type AGV cart, which includes a cart body 1, and a driving device 4 and driven wheels 3 disposed on the cart body 1, wherein four driven wheels 3 are disposed, four driven wheels 3 are disposed around the bottom of the cart body 1, two driving devices 4 are disposed, and the driving device 4 includes a steering wheel mounting bracket 44 and a steering wheel device 47 disposed on the steering wheel mounting bracket 44 and used for providing driving force.

Specifically, as shown in fig. 1 to 3, the vehicle body 1 has a certain length and width, two driving devices 4 are located on the same straight line parallel to the length direction of the vehicle body 1, the driving devices 4 are located at the middle position in the width direction of the vehicle body 1, two driven wheels 3 are respectively provided at both ends in the length direction of the vehicle body 1, and the driven wheels 3 are universal wheels. The steering wheel unit 47 is used to provide driving force for the AGV to travel and has a steering function, and the steering wheel unit 47 is constructed as well known to those skilled in the art, and the steering wheel unit 47 has a driving wheel.

As shown in fig. 1 to 3, the driving device 4 further includes a fixed base plate 41 connected to the vehicle body 1, an ear seat 42 disposed at one end of the fixed base plate 41, a guide rod disposed at the other end of the fixed base plate 41, a buffer spring 46 sleeved on the guide rod, and a spring pressing plate 45 disposed on the guide rod and located above the buffer spring 46, one end of the steering wheel mounting bracket 44 is rotatably connected to the ear seat 42, and the other end of the steering wheel mounting bracket 44 is sandwiched between the buffer spring 46 and the fixed base plate 41. The fixed bottom plate 41 is located below the steering wheel mounting frame 44, the fixed bottom plate 41 is horizontally arranged, the fixed bottom plate 41 is fixedly connected with the vehicle body 1, the steering wheel device 47 is mounted on the steering wheel mounting frame 44, the fixed bottom plate 41 is provided with an avoiding hole for allowing a driving wheel of the steering wheel device 47 to pass through, and a through hole for allowing the driving wheel of the steering wheel device 47 to pass through is also formed in the bottom surface of the vehicle body 1.

As shown in fig. 3, two ear seats 42 are provided, the two ear seats 42 are located on the same straight line parallel to the width direction of the vehicle body 1, and the ear seats 42 are fixedly connected to the top surface of the fixed base plate 41. The guide rods are arranged in two numbers, the two guide rods are positioned on the same straight line parallel to the width direction of the vehicle body 1, the guide rods are vertically arranged, the lower ends of the guide rods are fixedly connected with the fixed bottom plate 41, and the spring pressing plate 45 is connected with the upper ends of the guide rods. One end of the steering wheel mounting frame 44 in the length direction is rotatably connected with the two lug seats 42 through a mandrel 43, the other end of the steering wheel mounting frame 44 in the length direction is provided with a guide hole for a guide rod to pass through, the guide hole is a kidney-shaped hole, the length of the guide hole is larger than the diameter of the guide rod, the length direction of the guide hole is perpendicular to the axis of the mandrel 43, and the number of the guide holes is two. The buffer spring 46 is a cylindrical coil spring and is a compression spring, the upper end of the buffer spring 46 abuts against the spring pressing plate 45, the lower end of the buffer spring 46 abuts against the steering wheel mounting bracket 44, and the buffer spring 46 applies downward pressure to the steering wheel mounting bracket 44.

The steering wheel device 47 can be protected by providing a suspension device formed of a member such as a buffer spring 46 to connect the steering wheel to the vehicle body 1, and by providing sufficient adhesion between the steering wheel and the road surface and having a shock absorbing and buffering capability.

As shown in fig. 1, a vehicle body 1 is provided with two traction devices 2, and the two traction devices 2 are arranged in the middle of the vehicle body 1 in an oblique diagonal manner. The traction device 2 is fixedly connected with the vehicle body 1 through screws, and the traction device 2 is used for towing a cargo skip.

As shown in fig. 1 and 2, the vehicle body 1 includes a vehicle body welding group 11, a side cover plate 12 and a middle cover plate 13, the vehicle body welding group 11 is symmetrically provided with a control monitoring panel 111, a laser obstacle avoidance 113 and an anti-collision strip 112 in front and back, a manual charging port 114 is provided on a middle side plate thereof, and the manual charging port 114 is used for manually charging the AGV. The control and monitoring panel 111 is used for controlling and monitoring the AGV, the laser obstacle avoidance 113 and the bumper 112 are used for carrying out primary and secondary protection on the AGV.

As shown in fig. 1, 2 and 4, the AGV of the omnidirectional latent traction type of the present invention further includes a floor-charging device 5 provided on the vehicle body 1, the floor-charging device 5 being located between the two driving devices 4. The ground filling device 5 comprises a ground filling mounting frame 53, a brush block mounting plate 57, a brush block 58 arranged on the brush block mounting plate 57, an electric push rod 56 arranged on the ground filling mounting frame 53, connected with the brush block mounting plate 57 and used for controlling the brush block mounting plate 57 to lift, and an optical shaft 55 connected with the brush block mounting plate 57, wherein a linear bearing 54 matched with the optical shaft 55 is arranged on the ground filling mounting frame 53.

As shown in fig. 4, the ground charge mounting frame 53 is in a zigzag structure, the electric push rod 56 is vertically arranged, the upper end of the electric push rod 56 is connected with the ground charge mounting frame 53, the lower end of the electric push rod 56 is connected with the brush block mounting plate 57, and the brush block 58 is fixedly mounted on the brush block mounting plate 57. When the electric push rod 56 extends, the brush block mounting plate 57 can be pushed to move downwards; when the electric push rod 56 is contracted, the brush block mounting plate 57 can be pulled to move upwards. The optical axis 55 is provided with two, and electric putter 56 is located between two optical axes 55, and two optical axes 55 are the symmetrical arrangement. The brush block mounting plate 57 is provided with the guide shaft support 52, the linear bearing 54 is fixedly mounted on the ground charging frame 53, the guide shaft support 52, the linear bearing 54 and the optical axis 55 are symmetrically mounted, the lower end of the guide shaft support 52 is fixedly connected to the brush block mounting plate 57 through screws, the middle part of the guide shaft support 52 is fixedly connected to the optical axis 55 through locking screws, the linear bearing 54 is connected to the optical axis 55 through a sliding pair, and the linear bearing 54 is fixedly connected to the ground charging frame 53 through screws. The brush blocks 58 are arranged in two numbers, the brush blocks 58 are symmetrically and fixedly installed on the brush block installation plate 57 through screws, and the brush blocks 58 are in contact with a brush plate connected with a charger to charge a battery in the AGV.

As shown in fig. 4, the ground filling apparatus 5 further includes a fixing base 51 connected to the ground filling mounting frame 53, the fixing base 51 is vertically disposed, two fixing bases 51 are disposed, the brush block 58 is located between the two fixing bases 51, the lower end of the fixing base 51 is fixedly connected to the vehicle body 1 through a screw, and the upper end of the fixing base 51 is fixedly connected to the ground filling mounting frame 53 through a screw.

The AGV has the capability of manual charging and automatic charging, and provides guarantee for the energy supply of the AGV.

The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.

Claims

1. Towed AGV dolly of hiding of qxcomm technology includes the automobile body and sets up drive arrangement on the automobile body and follow the driving wheel, its characterized in that: the driven wheels are arranged in four, the four driven wheels are arranged around the bottom of the vehicle body, the driving devices are arranged in two, and each driving device comprises a steering wheel mounting frame and a steering wheel device which is arranged on the steering wheel mounting frame and used for providing driving force.

2. An omnidirectional latent traction AGV cart according to claim 1, wherein: the two driving devices are positioned on the same straight line parallel to the length direction of the vehicle body.

3. An omnidirectional latent traction AGV cart according to claim 1, wherein: the driving device further comprises a fixed bottom plate connected with the vehicle body, an ear seat arranged at one end of the fixed bottom plate, a buffer spring arranged on the guide rod and a spring pressing plate arranged on the guide rod and above the buffer spring, wherein the guide rod and the buffer spring are sleeved at the other end of the fixed bottom plate, one end of the steering wheel mounting frame is rotatably connected with the ear seat, and the other end of the steering wheel mounting frame is clamped between the buffer spring and the fixed bottom plate.

4. An omnidirectional latent traction AGV cart according to claim 3, wherein: the ear seat is provided with two.

5. An omnidirectional latent traction AGV cart according to claim 3, wherein: the guide rods are arranged in two.

6. An omnidirectional latent traction AGV cart according to any one of claims 1 to 5, wherein: the vehicle body is provided with two traction devices, and the two traction devices are arranged in the middle of the vehicle body in an oblique diagonal manner.

7. An omnidirectional latent traction AGV cart according to any one of claims 1 to 5, wherein: still including set up in fill the device with on the automobile body, fill the device with including fill mounting bracket, brush piece mounting panel, set up the brush piece on the brush piece mounting panel, set up on filling the mounting bracket with ground and be connected with the brush piece mounting panel and be used for controlling the brush piece mounting panel and carry out the electric putter that goes up and down and the optical axis of being connected with the brush piece mounting panel, fill and set up on the mounting bracket in optical axis matched with linear bearing with ground.

8. An omnidirectional latent traction AGV cart according to claim 7, wherein: the optical axis sets up two, electric putter is located between two optical axes.

9. An omnidirectional latent traction AGV cart according to claim 7, wherein: the ground charging device further comprises a fixed seat connected with the ground charging installation frame, the fixed seats are provided with two brush blocks located between the two fixed seats, and the fixed seats are connected with the vehicle body.