CN113415359A - Multifunctional module guiding vehicle - Google Patents
Multifunctional module guiding vehicle Download PDFInfo
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- CN113415359A CN113415359A CN202110892404.6A CN202110892404A CN113415359A CN 113415359 A CN113415359 A CN 113415359A CN 202110892404 A CN202110892404 A CN 202110892404A CN 113415359 A CN113415359 A CN 113415359A
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- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000005096 rolling process Methods 0.000 claims abstract description 10
- 239000000725 suspension Substances 0.000 claims description 24
- 230000003287 optical effect Effects 0.000 claims description 21
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 230000035939 shock Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 239000006096 absorbing agent Substances 0.000 claims 2
- 238000003032 molecular docking Methods 0.000 claims 1
- 238000003860 storage Methods 0.000 abstract description 5
- 238000009434 installation Methods 0.000 description 15
- 238000013461 design Methods 0.000 description 11
- 238000013016 damping Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 8
- 239000012634 fragment Substances 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000010073 coating (rubber) Methods 0.000 description 4
- 238000005304 joining Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 229920003225 polyurethane elastomer Polymers 0.000 description 4
- 206010066054 Dysmorphism Diseases 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000010923 batch production Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 240000004282 Grewia occidentalis Species 0.000 description 1
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention discloses a multifunctional module guide vehicle, which relates to the technical field of storage logistics.A driving module is connected with a linking mechanism through a rotary platform, and the linking mechanism is connected with a functional module; the rotary platform comprises a rotary disc seat arranged on the driving module, a rotary disc gear is arranged on the rotary disc seat through a thrust bearing, and a motor gear meshed with the rotary disc gear is arranged on one side of the rotary disc gear; the turntable gear and the motor gear are arranged on the inner side of the bracket, an output shaft of the first servo motor penetrates through the bracket to be connected with the motor gear, and a turntable is arranged in the turntable gear; the inner side of the turntable is provided with a rolling bearing, and the rolling bearing is arranged on the inner side of the bracket through a locking bearing frame; the rotary disc is connected with the connecting mechanism through the connecting seat; the multifunctional module can be freely replaced, the driving module is used as a basis, various functions can be loaded on the driving module, and other functional modules can be replaced at any time to realize the multifunctional function of the automatic guided vehicle.
Description
Technical Field
The invention relates to the technical field of storage logistics, in particular to a multifunctional module guiding vehicle.
Background
At present, industries such as production logistics, storage logistics, service and the like have increasingly large demands on the AGV with various functions, but the current AGV product has the defects of low use flexibility, single use, high price and the like, is difficult to popularize in various industries, and is particularly too high in cost when small and medium-sized enterprises purchase and use specialized AGV.
Disclosure of Invention
Aiming at the problems, the invention provides a multifunctional module guiding vehicle, which solves the problems of low flexibility and single purpose of the guiding vehicle in the prior art.
The technical scheme adopted by the invention is as follows: a multifunctional module guiding vehicle comprises a driving module, a rotating platform, a connecting mechanism and a functional module; the driving module is connected with the connecting mechanism through a rotating platform, and the connecting mechanism is connected with a functional module; the rotary platform comprises a rotary disc seat, a rotary disc gear, a motor gear, a bracket, a first servo motor, a rotary disc and a connecting seat; the driving module is provided with a turntable seat, a turntable gear is arranged on the turntable seat through a thrust bearing, and one side of the turntable gear is provided with a motor gear which is meshed with the turntable gear; a support is arranged above the turntable seat, the turntable gear and the motor gear are arranged on the inner side of the support, a first servo motor is arranged above the support, an output shaft of the first servo motor penetrates through the support to be connected with the motor gear, and a turntable is arranged in the turntable gear; the inner side of the turntable is provided with a rolling bearing, and the rolling bearing is arranged on the inner side of the bracket through a locking bearing frame; the rotary disc is connected with the connecting mechanism through the connecting seat.
Further, the drive module comprises a chassis frame, a drive wheel assembly, a universal wheel assembly and an electrical assembly; the chassis frame is respectively provided with a plurality of universal wheel assemblies and driving wheel assemblies, and the driving wheel assemblies are driven by electric assemblies;
the chassis frame comprises a bottom plate, a top plate and pillars, the top plate is arranged above the bottom plate in parallel, the bottom plate and the top plate are connected through a plurality of uniformly distributed pillars, a first end and a second end of the bottom plate are respectively provided with a plurality of mounting grooves matched with universal wheel assemblies, and the universal wheel assemblies are mounted in the mounting grooves; the third end and the fourth end of the bottom plate are respectively provided with a first mounting hole, the driving wheel assembly is mounted in the first mounting holes, and the driving wheel assembly is connected with the top plate; the turntable base is arranged on the bottom plate.
Furthermore, the universal wheel assembly comprises a universal wheel, an installation shell and a damping piece, the installation shell is installed in the installation groove, the universal wheel is installed in the installation cavity of the installation shell, and the damping piece is arranged between the universal wheel and the inner wall of the installation shell.
Furthermore, the driving wheel assembly comprises a suspension bracket, a second servo motor, a speed reducer, an elastic part, a flange seat, a guide optical axis, a bearing pressing sheet, a linear bearing, a driving wheel and a coupling; two guide optical axes are respectively installed on the bottom walls of the two sides of the top plate through flange seats, the other ends of the two guide optical axes on the same side are respectively provided with the same suspension bracket, through holes are vertically formed in the two ends of the two suspension brackets, the guide optical axes are installed in the through holes, linear bearings are arranged between the through holes and the guide optical axes, and the linear bearings are installed in the through holes through bearing pressing sheets; an elastic piece is arranged between the bearing pressing sheet and the top plate;
a speed reducer and a second servo motor are respectively arranged on the inner side of the suspension frame, an output shaft of the second servo motor is connected with the speed reducer, an output end of the speed reducer is connected with a driving wheel through a coupler, a second mounting hole is transversely arranged in the suspension frame and is mounted between the two through holes, and an output end of the speed reducer penetrates through the second mounting hole and is connected with the driving wheel; the driving wheel is arranged in the first mounting hole, and the second servo motor is driven by the electric assembly.
Further, the diameter size of the motor gear is smaller than that of the turntable gear.
Furthermore, the engagement mechanism comprises a traction seat platform, a driving motor, a first rack clamping pin, a second rack clamping pin and a driving gear; a traction seat platform is mounted on the connecting seat, a first guide groove and a second guide groove are respectively formed in two sides of the top of the traction seat platform, a driving motor is arranged between the first guide groove and the second guide groove, the driving motor is arranged at the bottom of the traction seat platform, a driving gear is sleeved on an output shaft of the driving motor, a first rack clamping pin and a second rack clamping pin which are meshed with each other are respectively mounted on two sides of the driving gear, and the first rack clamping pin and the second rack clamping pin are arranged at the bottom of the traction seat platform in a sliding connection mode; the functional module is detachably arranged in the first guide groove and the second guide groove, and the first rack clamping pin and the second rack clamping pin are respectively detachably inserted into the functional module in the first guide groove and the second guide groove.
Furthermore, the function module comprises a function body, traction pins, a first transplanter line elastic sheet interface and a second transplanter line elastic sheet interface, two traction pins matched with a first guide groove and a second guide groove are arranged on two sides of the bottom of the function body respectively, the four traction pins are detachably arranged in the first guide groove and the second guide groove respectively, the first transplanter line elastic sheet interface is arranged on the two traction pins at the front end, the second transplanter line elastic sheet interface matched with the first transplanter line elastic sheet interface is arranged in the first guide groove and the second guide groove, the first transplanter line elastic sheet interface is detachably connected with the second transplanter line elastic sheet interface, and the two traction pins at the rear end are detachably connected with a first rack clamping pin and a second rack clamping pin respectively.
Furthermore, the first guide groove and the second guide groove are both in a U-shaped structure.
Further, the shock absorbing member is a shock absorbing rubber block.
Furthermore, the elastic part is a compression spring which is sleeved on the guide optical axis.
The invention has the advantages that: the invention provides a multifunctional module guided vehicle, in a chassis structure of the guided vehicle, flexible connection between a driving wheel and a vehicle body frame is realized through a damping piece on the chassis frame, a ground plane of the driving wheel is lower than that of a universal wheel when a compression spring is completely unfolded, and the compression spring is in a compressed state on a horizontal plane so as to ensure that a suspension mechanism has enough sinking stroke when the suspension mechanism meets a pothole condition, so that the driving wheel can be constantly attached to the ground to provide reliable power when the guided vehicle passes through a pothole road surface. Meanwhile, a part of upward floating stroke is reserved, so that the stability of the vehicle body is guaranteed under the condition of the protrusion; the connecting mechanism is butted with the driving module through a rotating platform, a first guide groove and a second guide groove of the connecting mechanism are formed, the traction pins of the functional module are inserted along the first guide groove and the second guide groove, the driving motor rotates forwards to enable the first rack clamping pin and the second rack clamping pin to fix the two traction pins at the rear end, and after the fixing is successful, the functional module can realize the functions, such as a flat functional module, goods to be carried can be placed on the flat functional module, the connecting mechanism is equivalent to a simple carrier, and other functional modules can be replaced if other functions are needed; the invention has the characteristics of convenient butt joint, convenient height change, unified interface and the like, and can realize the development of the multifunctional guide vehicle only by connecting the functional module with a connecting mechanism of a driving module and electrically controlling and wiring; linking mechanism and functional module adopt first guide way and the second guide way of a set of U type structure to linking mechanism, four towing pins on the cooperation functional module use, be used for guaranteeing functional module's fastness, linking mechanism uses four towing pin connections with functional module, divide on every towing pin two transplanter circuit shell fragment of controlling, through the first transplanter circuit shell fragment interface in the functional module and the second transplanter circuit shell fragment interface connection in linking mechanism come to provide the electric energy for functional module, do not need functional module from taking the power, the operation of linking has been made things convenient for.
On the premise of ensuring the driving safety by installing an obstacle avoidance sensor, the front-back bidirectional operation can be realized, meanwhile, a wider structural design is adopted on the design of a driving unit, the stability is increased, the space reservation in the center is reserved, sensors such as two-dimensional code navigation and magnetic navigation can be installed in a matched manner, and the collision condition is avoided; the multifunctional automatic guiding vehicle can realize free replacement of the functional modules, and can load various functions on the driving module as a basis, and the functional modules can replace other functional modules at any time to realize the multifunctional function of the automatic guiding vehicle; according to the invention, a series of complex systems are modularized, the modularized design is to simplify the traditional AGV design scheme, a certain expansion space is reserved, and the functional modules are expanded into a plurality of additional functions, such as transferring, jacking, traction, temperature measurement, image recognition, checking and the like, so that the AGV has the function of one machine with multiple purposes; the guide vehicle is divided into the drive module, the functional module and the linking mechanism, the scheme can realize batch production of the drive module and the functional module of the guide vehicle, the production cost is reduced, the special-shaped part with special requirements is designed according to requirements, the whole vehicle development design of the guide vehicle can be completed only by installing a matched control system on the drive module and assembling a customized part of the special-shaped structure, and the development time of the guide vehicle and the production cost of a manufacturer can be reduced by the modular rapid development method.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a driving module according to the present invention;
FIG. 3 is a schematic view of the chassis frame construction of the present invention;
FIG. 4 is a schematic structural view of the universal wheel assembly of the present invention;
FIG. 5 is a schematic view of the drive wheel assembly of the present invention;
FIG. 6 is a schematic view of a rotary platform configuration of the present invention;
FIG. 7 is a schematic view of the engagement mechanism of the present invention;
FIG. 8 is a schematic view of the second transplanter line clip interface installation of the present invention;
FIG. 9 is a schematic view of the drive gear mounting of the present invention;
FIG. 10 is a schematic view of a kingpin installation of the present invention.
Reference numerals:
1-a driving module, 2-a connecting mechanism, 3-a functional module and 4-a rotating platform;
11-chassis frame, 12-driving wheel component, 13-universal wheel component and 14-electric component;
21-a traction seat platform, 22-a driving motor, 23-a first rack clamping pin, 24-a second rack clamping pin, 25-a first guide groove, 26-a second guide groove and 27-a driving gear;
31-a functional body, 32-a traction pin, 33-a first transplanter line elastic sheet interface and 34-a second transplanter line elastic sheet interface;
41-turntable seat, 42-turntable gear, 43-motor gear, 44-bracket, 45-first servo motor, 46-turntable, 47-connecting seat, 48-thrust bearing and 49-rolling bearing;
111-bottom plate, 112-top plate, 113-pillar, 114-mounting groove, 115-first mounting hole;
121-a suspension bracket, 122-a second servo motor, 123-a speed reducer, 124-an elastic part, 125-a flange seat, 126-a guide optical axis, 127-a bearing pressing sheet, 128-a linear bearing, 129-a driving wheel and 130-a coupler;
131-universal wheel, 132-mounting shell and 133-shock-absorbing piece;
1211-second mounting hole, 1212-through hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1 to 10, a multi-function module guided vehicle, which is also an AGV cart, includes a driving module 1, a rotating platform 4, an engaging mechanism 2, and a function module 3; the driving module 1 is connected with the linking mechanism 2 through a rotating platform 4, the driving module 1 provides a driving force for the AGV trolley to move, the rotating platform 4 rotates to drive the linking mechanism 2 to rotate, and preferably, the driving module 1 comprises a chassis frame 11, a driving wheel assembly 12, a universal wheel assembly 13 and an electrical assembly 14; a plurality of universal wheel assemblies 13 and driving wheel assemblies 12 are respectively arranged on the chassis frame 11, the driving wheel assemblies 12 are driven by electrical assemblies 14, and the electrical assemblies 14 are commercially available and remotely controllable storage power supplies; the electrical assembly 14 can be adapted to the chassis of a vehicle to make the overall structure more compact, in a prototype to design 18650 lithium ion (18 for 18mm diameter, 65 for 65mm length, 0 for cylindrical) batteries: 25.2V 35Ah (21V-29.4V), the charging time is about 6 hours, and the guide vehicle can run 14hours without loading goods (0.9 m/s) when the guide vehicle is unloaded; the chassis frame 11 comprises a bottom plate 111, a top plate 112 and pillars 113, the bottom plate 111 is a rectangular plate-shaped part, each part in the guiding chassis is installed on the bottom plate 111, the top plate 112 is installed above the bottom plate 111 in parallel, the bottom plate 111 and the top plate 112 are connected through a plurality of pillars 113 which are uniformly distributed, preferably, the pillars are four 40x40 aluminum profile pillars, four 40x40 aluminum profile pillars are respectively and uniformly distributed at four corners of the top plate 112, the top plate 112 is an I-shaped structure, the middle is a cross beam, further optimizing the width and position of the middle cross beam can be adjusted optionally, or not connected, two top plates 112 are selected to be respectively installed on the pillars 113 at two sides, a first end and a second end of the bottom plate 111 are respectively provided with a plurality of installation grooves 114 which are matched with the universal wheel assemblies 13, preferably, the number of the universal wheel assemblies 13 is four, the number of the installation grooves 114 is also four, the four installation grooves 114 are respectively arranged at four corners of the bottom plate 111, the universal wheel assembly 13 is arranged in the mounting groove 114; the third end and the fourth end of the bottom plate 111 are respectively provided with a first mounting hole 115, the first mounting hole 115 is arranged between the two mounting grooves 114 on the same side and is located at the middle position, the driving wheel assembly 12 is mounted in the first mounting hole 115, and the driving wheel assembly 12 is connected with the top plate 112; the universal wheel assembly 13 comprises universal wheels 131, mounting shells 132 and shock absorbing pieces 133, the mounting shells 132 are mounted in the mounting grooves 114 at four corners respectively, the mounting shells 132 are of bowl-shaped structures, the universal wheels 131 are mounted in mounting cavities of the mounting shells 132, the universal wheels 131 are preferably made of polyurethane rubber coating, vibration and noise are reduced, in order to ensure better trafficability, the preferred size is three-inch polyurethane rubber coating wheels, the universal wheels 131 are mounted in recessed mounting cavities of the mounting shells 132, the height of a chassis is effectively reduced, and the shock absorbing pieces 133 are arranged between the universal wheels 131 and the inner walls of the mounting shells 132; by the structure, the guide vehicle chassis is stably supported on the working surface; the driving wheel assembly 12 comprises a suspension frame 121, a second servo motor 122, a speed reducer 123, an elastic member 124, a flange seat 125, a guide optical axis 126, a bearing pressing sheet 127, a linear bearing 128, a driving wheel 129 and a coupling 130; two guide optical axes 126 are respectively mounted on the bottom walls of the two sides of the top plate 112 through the flange seat 125, preferably, third mounting holes 116 are respectively formed in the two ends of the two sides of the top plate 112, four guide optical axes 126 respectively penetrate through the third mounting holes 116 and are mounted in the flange seat 125, the same suspension frame 121 is respectively arranged at the other ends of the two guide optical axes 126 on the same side, through holes 1212 are vertically formed in the two ends of the two suspension frames 121, the guide optical axes 126 are mounted in the through holes 1212, linear bearings 128 are mounted between the through holes 1212 and the guide optical axes 126, and the linear bearings 128 are mounted in the through holes 1212 through bearing pressing sheets 127; an elastic part 124 is arranged between the bearing pressing sheet 127 and the top plate 112 for damping, and is a suspension type damping system; a speed reducer 123 and a second servo motor 122 are respectively installed on the inner side of the suspension frame 121, an output shaft of the second servo motor 122 is connected with the speed reducer 123, an output end of the speed reducer 123 is connected with a driving wheel 129 through a coupler 130, a second installation hole 1211 is transversely arranged in the suspension frame 121, the second installation hole 1211 is installed between the two through holes 1212, and an output end of the speed reducer 123 penetrates through the second installation hole 1211 and is connected with the driving wheel 129; the driving wheel 129 is arranged in the first mounting hole 115, and the second servo motor 122 is driven by the electric assembly 14; preferably, the two driving wheels 129 are installed as two differential driving wheels, and the direction change of the automatic guided vehicle is realized through the speed difference of the differential wheels; the driving wheel 129 is independently suspended to enable the driving wheel 129 to float up and down so as to ensure that reliable power is provided in real time, the structure is characterized in that two steel shafts with the diameter of 10 mm are matched with a linear bearing 128 by means of a guide optical axis 126, an independent suspension bracket is connected to a top plate 112, the flexible connection between the driving wheel 129 and a vehicle body frame is realized through an elastic piece 124 on a chassis frame 11, the ground plane of the driving wheel is lower than that of a universal wheel when the elastic piece 124 is completely unfolded, and the elastic piece 124 is in a compressed state on the horizontal plane so as to ensure that the suspension mechanism has enough sinking stroke when a pothole condition is met, so that the driving wheel 129 can be tightly attached to the ground at any time when a guided vehicle passes through a pothole road surface to provide reliable power; the rotary platform 4 comprises a rotary disc seat 41, a rotary disc gear 42, a motor gear 43, a bracket 44, a first servo motor 45, a rotary disc 46 and a connecting seat 47; the driving module 1 is provided with a turntable base 41, namely the turntable base 41 is arranged on the bottom plate 111; the turntable base 41 is fixed with the bottom plate 111 through a four-corner screw nut, the turntable gear 42 is mounted on the turntable base 41 through a thrust bearing 48, the turntable gear 42 is mounted so that the turntable gear 42 can normally rotate, a motor gear 43 meshed with the turntable gear 42 is arranged on one side of the turntable gear 42, and the motor gear 43 rotates to drive the turntable gear 43 to rotate; a bracket 44 is arranged above the turntable base 41, the turntable gear 42 and the motor gear 43 are arranged on the inner side of the bracket 44, a first servo motor 45 is arranged above the bracket 44, the bracket 44 is used for installing the first servo motor 45, a rotating space of the turntable gear 42 and the motor gear 43 is reserved on the bracket 44, an output shaft of the first servo motor 45 penetrates through the bracket 44 to be connected with the motor gear 43, the first servo motor 45 works to drive the motor gear 43 to rotate, a turntable 46 is arranged in the turntable gear 42, and the turntable gear 42 rotates to drive the turntable 46 to rotate; a rolling bearing 49 is arranged on the inner side of the turntable 46, the rolling bearing 49 is arranged on the inner side of the bracket 44 through a locking bearing frame 491, the locking bearing frame 491 supports the rolling bearing 49 and further supports the turntable 46; the rotary disc 46 is connected with the connecting mechanism 2 through a connecting seat 47; the connecting mechanism 2 is connected with a functional module 3; the engaging mechanism 2 comprises a traction seat platform 21, a driving motor 22, a first rack clamping pin 23, a second rack clamping pin 24 and a driving gear 27; a traction seat platform 21 is installed on the connecting seat 47, a first guide groove 25 and a second guide groove 26 are respectively arranged on two sides of the top of the traction seat platform 21, a driving motor 22 is arranged between the first guide groove 25 and the second guide groove 26, the driving motor 22 is arranged at the bottom of the traction seat platform 21, a driving gear 27 is fixedly sleeved on an output shaft of the driving motor 22, a first rack clamping pin 23 and a second rack clamping pin 24 which are meshed with each other are respectively installed on two sides of the driving gear 27, and the first rack clamping pin 23 and the second rack clamping pin 24 are arranged at the bottom of the traction seat platform 21 in a sliding connection manner; the functional module 3 is detachably arranged in the first guide groove 25 and the second guide groove 26, and the first rack bayonet 23 and the second rack bayonet 24 are respectively and detachably inserted into the functional module 3 in the first guide groove 25 and the second guide groove 26; the driving motor 22 rotates to drive the driving gear 28 to rotate, the driving gear 28 rotates to drive the first rack bayonet lock 23 and the second rack bayonet lock 24 to slide at the bottom of the traction seat platform 21, so that the telescopic function of the traction seat platform is realized, and the first rack bayonet lock 23 and the second rack bayonet lock 24 are respectively inserted into the first guide groove 25 and the second guide groove 26; functional module 3 includes functional subject 31, towing pin 32, first transplanter circuit shell fragment interface 33 and second transplanter circuit shell fragment interface 34, and functional module 3 has the multiple: jacking functional modules, drum functional modules and flat functional modules, for example piggy-back: can place the tray on the guide car, the work or material rest, goods such as workbin are carried, are applicable to the commodity circulation system that the goods supply cycle is short, the transport is frequent. A forklift type: the goods taking and placing device can take and place from the ground, a goods shelf, a bracket and a conveyor, and automatically pick and transport the goods of the types such as trays, containers and the like. Clamping: the device is used for carrying reels and non-stacking goods such as boxes and the like, and can carry out carrying, lifting and transporting operations flexibly. Roller type: the top end of the self-unloading type roller is provided with a self-unloading roller which is in butt joint with a roller type assembly line, a workbench and the like to finish the storage and taking tasks, and different functional modules are respectively used for realizing the functions under different scenes; two traction pins 32 matched with the first guide groove 25 and the second guide groove 26 are respectively arranged on two sides of the bottom of the function main body 31, the four traction pins 32 are respectively and detachably arranged in the first guide groove 25 and the second guide groove 26, wherein a first transplanter circuit elastic sheet interface 33 is respectively arranged on the two traction pins 32 at the front end, a second transplanter circuit elastic sheet interface 34 matched with the first transplanter circuit elastic sheet interface 33 is arranged in the first guide groove 25 and the second guide groove 26, the first transplanter circuit elastic sheet interface 33 is detachably connected with the second transplanter circuit elastic sheet interface 34, the two traction pins 32 at the rear end are respectively and detachably connected with a first rack bayonet lock 23 and a second rack bayonet lock 24, the driving motor 22 rotates to drive the driving gear 28 to rotate, the driving gear 28 rotates to drive the first rack bayonet lock 23 and the second rack bayonet lock 24 to slide at the bottom of the traction seat platform 21, so that the first and second rack pins 23 and 24 are respectively inserted into the inner sides of the two draw pins 32 of the first and second guide grooves 25 and 26, and the draw pins 32 of the function module 3 are locked; four towing pins 32 of the function module 3 are embedded into the joining mechanism 2 along the first guide groove 25 and the second guide groove 26, a first transplanter circuit elastic sheet interface 33 in the function module 3 is contacted with a second transplanter circuit elastic sheet interface 34 in the joining mechanism 2, the driving motor 22 of the joining mechanism 2 controls the first rack bayonet lock 23 and the second rack bayonet lock 24 to lock the four towing pins 32, namely, the function module 3 is fixed, when the function module needs to be replaced, the driving motor 22 controls the first rack bayonet lock 23 and the second rack bayonet lock 24 to shrink, the first transplanter circuit elastic sheet interface 33 in the function module 3 is separated from the second transplanter circuit elastic sheet interface 34 in the joining mechanism 2, the function module 2 can be separated from the traction base platform 21 along the first guide groove 25 and the second guide groove 26 at two ends, and other function modules can be replaced after separation.
The invention provides a multifunctional module guiding vehicle, which adopts a six-wheel chassis structure, a driving module 1 comprises a bottom plate 111, two differential wheels and four universal wheel universal wheels, namely movable caster wheels, the structure of the driving module allows horizontal 360-degree rotation, the universal wheels have a damping function, the driving module is placed at four corners of a vehicle body to form a six-wheel vehicle type with differential steering, the internal structural layout is compact, a driving wheel 129 is provided with an independently suspended guiding vehicle chassis structure, four universal wheels 131 are uniformly distributed at four corners of the bottom plate 111, two differential driving wheels are arranged at the middle position of the bottom plate 111, the differential driving uses an elastic part 124 to press the differential wheels, the driving wheel 129 generates friction force to drag the vehicle body through the pressure of the elastic part 124, the wheel diameter of the differential driving is smaller, therefore, in order to obtain larger friction force, the rubber coating is softer, the wheel surface is not wear-resistant, polyurethane rubber coating wheels are adopted, a second servo motor 122 and an independent suspension type damping system are respectively arranged above the differential driving wheels at two sides, one end of a bottom plate 111 is an electrical component 14, the middle of the bottom plate 111 is a rotary platform 4, a square structure is reserved in the middle of the rotary mechanism and is a camera scanning area or an RFID sensor installation space, a turntable gear 42 of the rotary platform 4 is a gear ring, a motor gear 43 meshed with the left side of the gear ring is a pinion, and the motor gear 43 is driven by a first servo motor 45; the other end of the turntable 46 is provided with a control circuit of the driving module 1, the control circuit is connected with the first servo motor 45 and the second servo motor 122 through leads, the right end of the control circuit is provided with an ultrasonic sensor which has the function of judging whether obstacles exist on the road condition in front or not and can reduce the speed to avoid collision in time, the driving safety of the guided vehicle is ensured, the driving mode is that the left and right second servo motors 122 are used for driving, the speed reducer 123 drives the polyurethane rubber-coated driving wheel to output power, and the rotation of tracks with different radiuses is realized by controlling the difference of the rotating speeds of the left and right second servo motors 122 so as to achieve the purpose of changing the direction of the guided vehicle; the driving module has the advantages that the control mode is simple, the flexibility is high, the load-carrying capacity is strong, the driving module mainly comprises a steering wheel type driving module and a differential type driving module, the steering wheel type driving module is too large in size and cannot be applied to a small AGV, the differential steering type driving module can form a large-load AGV through a plurality of differential modules, when the load and the size of the AGV change, only a vehicle body frame needs to be designed, and then different differential driving units are selected; the invention adopts a differential steering vehicle model with middle-arranged driving wheels, realizes steering by the differential matching of two wheels and universal wheels, and the radius, the running speed and the steering angular speed during steering are determined by two middle-arranged differential wheels, thereby realizing the actions of pivot steering, steering with different radii and the like, having strong flexibility, and solving the problem of insufficient friction between the wheels and the ground in a differential driving mode through an elastic part; when the direction of the upper functional module 3 needs to be rotated, the first servo motor 45 works, and the first servo motor 45 works to drive the motor gear 43 to rotate; the motor gear 43 rotates to drive the turntable gear 43 to rotate; so that the turntable gear 42 rotates to drive the turntable 46 to rotate, the turntable 46 rotates to drive the traction seat platform 21 to rotate through the connecting seat 47, and the traction seat platform 21 drives the functional module 3 to rotate; when the functional module 3 needs to be replaced, the first rack bayonet 23 and the second rack bayonet 24 at the two ends are controlled by the driving motor 22 to automatically retract and be replaced quickly; taking a flat plate functional module as an example, the flat plate functional module has a simple structure and can bear a large amount of goods with fixed shapes, the towing pins 32 of the functional module 3 are inserted into the first guide grooves 25 and the second guide grooves 26, the four towing pins 32 slide inwards in the first guide grooves 25 and the second guide grooves 26 of the connecting mechanism 2, the driving motor 22 rotates forwards to enable the first rack clamping pins 23 and the second rack clamping pins 24 to fix the two towing pins 32 at the rear end, at the moment, the first transplanter circuit elastic sheet interface 33 is contacted with the second transplanter circuit elastic sheet interface 34, after the fixing is successful, the functional module 3 can realize the functions, such as the flat plate functional module, the goods to be carried can be placed on the flat plate functional module, which is equivalent to a simple carrier, if other functional modules are required to be replaced, the driving motor 22 can rotate backwards to enable the first rack clamping pins 23 and the second rack clamping pins 24 to enter the two towing pins 32 at the rear end Unlocking the four drawing pins 32 to slide outwards along the first guide groove 25 and the second guide groove 26, replacing the functions with other functions, and repeating the operation to fix the drawing pins; .
In an embodiment of the present invention, the diameter of the motor gear 43 is smaller than that of the turntable gear 42, so that the turntable gear 42 is driven to rotate by the motor gear 43.
In an embodiment of the invention, the first guide groove 25 and the second guide groove 26 are both U-shaped structures, so that the first rack bayonet 23 and the second rack bayonet 24 can be conveniently inserted, and the movement of the four traction pins 32 can be limited, so that the first rack bayonet 23 and the second rack bayonet 24 can only slide linearly without play.
In an embodiment of the present invention, the shock absorbing member 133 is a shock absorbing rubber block to further reduce the shock.
In an embodiment of the present invention, the elastic member 124 is a compression spring, and the compression spring is sleeved on the guiding optical axis 126.
The invention provides a multifunctional module guided vehicle, in a chassis structure of the guided vehicle, flexible connection between a driving wheel and a vehicle body frame is realized through a damping piece on a chassis frame 11, a ground plane of the driving wheel is lower than that of a universal wheel when a compression spring is completely unfolded, and the compression spring is in a compressed state on a horizontal plane so as to ensure that a suspension mechanism has enough sinking stroke when the suspension mechanism meets a pothole condition, so that the driving wheel can be constantly attached to the ground to provide reliable power when the guided vehicle passes through a pothole road surface. Meanwhile, a part of upward floating stroke is reserved, so that the stability of the vehicle body is guaranteed under the condition of the protrusion; the connecting mechanism 2 is in butt joint with the driving module 1 through the rotating platform 4, a first guide groove 25 and a second guide groove 26 of the connecting mechanism 2 are formed, the traction pins 32 of the functional module 3 are inserted into the first guide groove 25 and the second guide groove 26, the driving motor 22 rotates forwards to enable the first rack clamping pin 23 and the second rack clamping pin 24 to fix the two traction pins 32 at the rear end, and after the fixing is successful, the functional module 3 can realize the functions, such as a flat functional module, goods to be carried can be placed on the flat functional module, the connecting mechanism is equivalent to a simple carrier, and other functional modules can be replaced if other functions are required to be finished; the invention has the characteristics of convenient butt joint, convenient height change, unified interface and the like, and can realize the development of the multifunctional guide vehicle only by connecting the functional module with a connecting mechanism of a driving module and electrically controlling and wiring; linking mechanism and function module adopt first guide way 25 and second guide way 26 of a set of U type structure to linking mechanism, four towing pin 32 on the cooperation function module use, be used for guaranteeing function module 3's fastness, linking mechanism and function module use four towing pin to be connected, every is towed two transplanter circuit shell fragment about dividing on the round pin, connect with second transplanter circuit shell fragment interface 34 in linking mechanism 2 through first transplanter circuit shell fragment interface 33 in the function module 3 and provide the electric energy for the function module, do not need the function module to take the power certainly, the operation of linking has been made things convenient for.
On the premise of ensuring the driving safety by installing an obstacle avoidance sensor, the front-back bidirectional operation can be realized, meanwhile, a wider structural design is adopted on the design of a driving unit, the stability is increased, the space reservation in the center is reserved, sensors such as two-dimensional code navigation and magnetic navigation can be installed in a matched manner, and the collision condition is avoided; the multifunctional automatic guiding vehicle can realize free replacement of the functional modules, and can load various functions on the driving module as a basis, and the functional modules can replace other functional modules at any time to realize the multifunctional function of the automatic guiding vehicle; according to the invention, a series of complex systems are modularized, the modularized design is to simplify the traditional AGV design scheme, a certain expansion space is reserved, and the functional modules are expanded into a plurality of additional functions, such as transferring, jacking, traction, temperature measurement, image recognition, checking and the like, so that the AGV has the function of one machine with multiple purposes; divide into drive module 1 with the guide car, functional module 3, linking mechanism 2, this scheme can realize guide car drive module 1 and 3 batch production of functional module, reduce manufacturing cost, special demand's dysmorphism piece is designed according to the demand, only need install supporting control system and assemble the part dysmorphism of customization on drive module 1, alright completion guide car's whole car development design, this kind of modular quick development method can reduce the development time of guide car and the manufacturing cost of producer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A multifunctional module (3) guiding vehicle is characterized by comprising a driving module (1), a rotating platform (4), a connecting mechanism (2) and a functional module (3); the driving module (1) is connected with the connecting mechanism (2) through a rotating platform (4), and the connecting mechanism (2) is connected with a functional module (3); the rotary platform (4) comprises a rotary disc seat (41), a rotary disc gear (42), a motor gear (43), a bracket (44), a first servo motor (45), a rotary disc (46) and a connecting seat (47); a turntable seat (41) is arranged on the driving module (1), a turntable gear (42) is mounted on the turntable seat (41) through a thrust bearing (48), and a motor gear (43) meshed with the turntable gear (42) is arranged on one side of the turntable gear (42); a support (44) is arranged above the turntable seat (41), the turntable gear (42) and the motor gear (43) are arranged on the inner side of the support (44), a first servo motor (45) is arranged above the support (44), an output shaft of the first servo motor (45) penetrates through the support (44) to be connected with the motor gear (43), and a turntable (46) is arranged in the turntable gear (42); a rolling bearing (49) is installed on the inner side of the turntable (46), and the rolling bearing (49) is installed on the inner side of the bracket (44) through a locking bearing bracket (491);
the rotary disc (46) is connected with the connecting mechanism (2) through a connecting seat (47).
2. Multifunction module guide cart according to claim 1, characterized in that the drive module (1) comprises a chassis frame (11), a drive wheel assembly (12), a universal wheel assembly (13) and an electrical assembly (14); the chassis frame (11) is respectively provided with a plurality of universal wheel assemblies (13) and driving wheel assemblies (12), and the driving wheel assemblies (12) are driven by electrical assemblies (14); the chassis frame (11) comprises a bottom plate (111), a top plate (112) and supporting columns (113), the top plate (112) is arranged above the bottom plate (111) in parallel, the bottom plate (111) and the top plate (112) are connected through the supporting columns (113) which are uniformly distributed, a plurality of mounting grooves (114) matched with the universal wheel assemblies (13) are formed in the first end and the second end of the bottom plate (111) respectively, and the universal wheel assemblies (13) are mounted in the mounting grooves (114); the third end and the fourth end of the bottom plate (111) are respectively provided with a first mounting hole (115), the driving wheel assembly (12) is mounted in the first mounting hole (115), and the driving wheel assembly (12) is connected with the top plate (112);
the turntable base (41) is arranged on the bottom plate (111).
3. The multifunctional module guide vehicle according to claim 2, wherein the universal wheel assembly (13) comprises a universal wheel (131), a mounting shell (132) and a shock absorber (133), the mounting shell (132) is mounted in the mounting groove (114), the universal wheel (131) is mounted in the mounting cavity of the mounting shell (132), and the shock absorber (133) is arranged between the universal wheel (131) and the inner wall of the mounting shell (132).
4. The multi-function module guided vehicle of claim 2, wherein the drive wheel assembly (12) comprises a suspension bracket (121), a second servomotor (122), a reducer (123), an elastic member (124), a flange seat (125), a guide optical axis (126), a bearing pad (127), a linear bearing (128), a drive wheel (129), and a coupling (130); two guiding optical axes (126) are respectively installed on the bottom walls of the two sides of the top plate (112) through flange seats (125), the other ends of the two guiding optical axes (126) on the same side are respectively provided with a same suspension frame (121), through holes (1212) are vertically formed in the two ends of the two suspension frames (121), the guiding optical axes (126) are installed in the through holes (1212), linear bearings (128) are arranged between the through holes (1212) and the guiding optical axes (126), and the linear bearings (128) are installed in the through holes (1212) through bearing pressing sheets (127); an elastic piece (124) is arranged between the bearing pressing sheet (127) and the top plate (112); a speed reducer (123) and a second servo motor (122) are respectively arranged on the inner side of the suspension frame (121), an output shaft of the second servo motor (122) is connected with the speed reducer (123), an output end of the speed reducer (123) is connected with a driving wheel (129) through a coupler (130), a second mounting hole (1211) is transversely arranged in the suspension frame (121), the second mounting hole (1211) is mounted between the two through holes (1212), and an output end of the speed reducer (123) penetrates through the second mounting hole (1211) and is connected with the driving wheel (129); the driving wheel (129) is arranged in the first mounting hole (115), and the second servo motor (122) is driven by the electric assembly (14).
5. Multifunction module guide cart according to claim 1, characterized in that the motor gear (43) has a smaller diameter dimension than the carousel gear (42).
6. Multifunction module guide cart according to claim 1, characterized in that the docking mechanism (2) comprises a fifth wheel platform (21), a drive motor (22), a first rack catch (23), a second rack catch (24) and a drive gear (27); the traction seat platform is characterized in that a traction seat platform (21) is installed on the connecting seat (47), a first guide groove (25) and a second guide groove (26) are respectively formed in two sides of the top of the traction seat platform (21), a driving motor (22) is arranged between the first guide groove (25) and the second guide groove (26), the driving motor (22) is arranged at the bottom of the traction seat platform (21), a driving gear (27) is sleeved on an output shaft of the driving motor (22), a first rack clamping pin (23) and a second rack clamping pin (24) which are meshed with each other are respectively installed on two sides of the driving gear (27), and the first rack clamping pin (23) and the second rack clamping pin (24) are arranged at the bottom of the traction seat platform (21) in a sliding connection mode; the functional module (3) is detachably arranged in the first guide groove (25) and the second guide groove (26), and the first rack clamping pin (23) and the second rack clamping pin (24) are respectively detachably inserted into the functional module (3) in the first guide groove (25) and the second guide groove (26).
7. The multifunctional module guiding vehicle according to claim 6, wherein the functional module (3) comprises a functional body (31), two towing pins (32), a first transplanter line spring sheet interface (33) and a second transplanter line spring sheet interface (34), two towing pins (32) matched with the first guide groove (25) and the second guide groove (26) are respectively arranged at two sides of the bottom of the functional body (31), the four towing pins (32) are respectively detachably arranged in the first guide groove (25) and the second guide groove (26), wherein the two towing pins (32) at the front end are respectively provided with the first transplanter line spring sheet interface (33), the first guide groove (25) and the second guide groove (26) are internally provided with the second transplanter line spring sheet interface (34) matched with the first transplanter line spring sheet interface (33), the first transplanter line elastic sheet interface (33) is detachably connected with the second transplanter line elastic sheet interface (34), and the two traction pins (32) at the rear end are respectively detachably connected with the first rack clamping pin (23) and the second rack clamping pin (24).
8. Multifunction module guide cart according to claim 6, characterized in that the first guide slot (25) and the second guide slot (26) are both of a U-shaped construction.
9. Multifunction module guide cart according to claim 2, characterized in that the shock absorbing members (133) are shock absorbing rubber blocks.
10. The multi-function module guided vehicle of claim 4, wherein the resilient member (124) is a compression spring that is fitted over the guide optical axis (126).
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