CN113460197A - Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval - Google Patents
Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval Download PDFInfo
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- CN113460197A CN113460197A CN202110867702.XA CN202110867702A CN113460197A CN 113460197 A CN113460197 A CN 113460197A CN 202110867702 A CN202110867702 A CN 202110867702A CN 113460197 A CN113460197 A CN 113460197A
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- lifting arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 27
- 238000000429 assembly Methods 0.000 claims abstract description 27
- 230000003137 locomotive effect Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000033764 rhythmic process Effects 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
- B62D63/025—Modular vehicles
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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
- B62D63/04—Component parts or accessories
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of AGV conveying equipment, in particular to an omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm distance, which comprises a headstock device, wherein a control system and a laser navigation sensor are arranged in the headstock device, a driving wheel assembly is arranged at the bottom of the headstock device, a group of lifting arm assemblies are respectively arranged on the left side and the right side of one end of the headstock device, driving universal wheels are arranged at the bottoms of the lifting arm assemblies, the end surfaces of the headstock device are positioned on the two groups of lifting arm assemblies and are respectively provided with a horizontal slide rail, slide blocks are arranged on the slide rails, the slide blocks are fixedly connected with the lifting arm assemblies, and a linear driving mechanism is also arranged on the end surfaces of the headstock device at each group of lifting arm assemblies and is used for driving the lifting arm assemblies to horizontally move along the slide rails; the invention realizes the transportation of components and tray objects with different sizes by automatically adjusting the distance between the two lifting arms.
Description
Technical Field
The invention relates to the field of AGV conveying equipment, in particular to an omnidirectional autonomous navigation bearing type AGV with an adjustable lifting arm distance.
Background
In the industrial product manufacturing process, blanking links such as stamping and cutting of metal plates cannot be omitted, according to different purposes of parts, after blanking is carried out in batches, pallets with different sizes are collected together to be transferred to a production line process combination station, the blanking is finished by manually operating forklift equipment in the prior art, the work is heavy, the operation is single, the environment is severe, the single-pallet material is heavy to meet the requirement of production line rhythm, the structural form of a heavy-duty forklift is not limited by process actions during carrying, a large amount of space is occupied, in addition, the fork arm interval of a common forklift is fixed and cannot be adjusted, and the transportation requirement of the pallets with different sizes cannot be met.
Disclosure of Invention
The invention aims to solve the problems of transferring trays of different sizes by means of an artificial forklift, and provides an omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm spacing.
The specific scheme of the invention is as follows: the utility model provides a lift arm interval adjustable qxcomm technology and independently navigate and bear formula AGV, including the locomotive device, control system and laser navigation sensor are equipped with in the locomotive device, the drive wheel subassembly is equipped with to locomotive device bottom, a set of arm component that lifts is respectively equipped with to the left and right sides of locomotive device one end, lift the arm component bottom and be equipped with the initiative universal wheel, the terminal surface of locomotive device is located two sets of arm components that lift and all is equipped with the horizontally slide rail, the slider is equipped with on the slide rail, slider and arm component fixed connection lifts, a linear driving mechanism still is equipped with to locomotive device terminal surface position in every group arm component department that lifts, linear driving mechanism is used for driving the arm component that lifts along slide rail horizontal migration.
The linear driving mechanism comprises two bearing seats, a screw rod is arranged between the two bearing seats, one end of the screw rod is connected with a servo motor, a nut connecting piece is connected onto the screw rod, and the nut connecting piece is fixedly connected with a lifting arm assembly.
The bottom of each group of lifting arm assembly is provided with two groups of driving universal wheel driving mechanisms, each driving universal wheel driving mechanism comprises a fixed support, a rotary support is arranged on the fixed support, the outer bearing surface of the rotary support is connected with the fixed support, a flange type driving shaft is arranged in an inner hole of the rotary support, the flange type driving shaft penetrates through the fixed support downwards and is connected with a roller frame, double rows of driving universal wheels are arranged in the roller frame, a rotary encoder is arranged on the flange type driving shaft to detect the rotating angle of the driving shaft, a driven chain wheel is arranged at the upper end of the flange type driving shaft, a servo motor is arranged on one side of the fixed support, a driving chain wheel is arranged at the output end of the servo motor, and the driving chain wheel is in transmission connection with the driven chain wheel through a chain.
The end face of the lifting arm assembly is provided with at least two locking holes, the axes of the locking holes are arranged along the vertical direction, an electric locking mechanism is arranged on the vehicle head device corresponding to each group of lifting arm assemblies, the electric locking mechanism is provided with an electric control telescopic pin shaft, and when the lifting arm assembly moves in place, the electric locking mechanism is inserted into the locking holes through the telescopic pin shaft so as to lock the lifting arm assembly.
The outer side and the outer end face of the lifting arm assembly are provided with distance measuring sensors, and the outer end face of the lifting arm assembly is also provided with a radar for scanning obstacles.
The working principle of the invention is as follows: according to the size of the tray to be actually transported, the control system automatically adjusts the distance between the two lifting arm assemblies, firstly, the driving universal wheel driving mechanism at the bottom of each lifting arm assembly moves to enable the driving universal wheel to rotate to the wheel axis to be perpendicular to the screw, then the electric control telescopic pin shaft exits from the locking hole, and the linear driving mechanism moves to drive the lifting arm assemblies to horizontally move along the sliding rails, so that the adjustment of the distance between the two lifting arms to adapt to the size of the tray can be realized; after the lifting arm assembly is adjusted in place, the electric control telescopic pin shaft is inserted into a new locking hole to lock the lifting arm assembly; when the lifting arm assembly walks, the driving universal wheels of the lifting arm assembly and the driving wheel assembly of the vehicle head device synchronously and synchronously walk in the same direction, so that the omnidirectional walking is realized.
Compared with the prior art, the invention has the following advantages: 1. the conveying of components and tray objects with different sizes is realized by automatically adjusting the distance between the two lifting arms; 2. the omnidirectional walking realizes the automatic order-changing carrying of the objects in a relatively narrow space; 3. the heavy-duty forklift is replaced to realize unmanned carrying of the overweight objects.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
fig. 2 is a perspective view a of the vehicle head device of the present invention;
fig. 3 is a perspective view b of the vehicle head device of the present invention;
FIG. 4 is a front view of FIG. 2;
FIG. 5 is a view A-A of FIG. 4;
FIG. 6 is a view B-B of FIG. 5;
FIG. 7 is a perspective view of the lift arm assembly of the present invention;
FIG. 8 is a front view of FIG. 7;
FIG. 9 is a perspective view of the active universal wheel drive mechanism of the present invention;
FIG. 10 is a perspective view of a drive wheel assembly within the headset of the present invention;
in the figure: 1-a headstock device, 101-a laser navigation sensor, 102-a telescopic pin shaft, 103-a sliding rail, 104-a linear driving mechanism, 141-a bearing seat, 142-a nut connecting piece, 143-a screw rod, 144-a servo motor, 105-a sliding block, 106-a driving wheel assembly, 2-a lifting arm assembly, 201-a driving universal wheel driving mechanism, 211-a servo motor, 212-a fixed support, 213-a driven chain wheel, 214-a driving chain wheel, 215-a driving universal wheel, 216-a rotary encoder, 217-a flange type driving shaft, 218-a slewing bearing, 202-a lifting mechanism, 203-a distance measuring sensor, 204-a radar, 205-a locking hole, 206-a connecting block A and 207-a connecting block B.
Detailed Description
Referring to fig. 1-6, the omnidirectional self-navigation load-bearing AGV with adjustable lifting arm spacing of the embodiment includes a vehicle head device 1, a control system and a laser navigation sensor 101 are installed in the vehicle head device 1, two sets of driving wheel assemblies 106 are installed at the bottom of the vehicle head device 1, referring to fig. 10, the specific structure of the driving wheel assemblies 106 is described and disclosed in the patent CN211592766U previously applied by the applicant, a set of lifting arm assemblies 2 are respectively installed at the left and right sides of one end of the vehicle head device 1, driving universal wheels are installed at the bottoms of the lifting arm assemblies 2, a lifting mechanism 202 is installed in the lifting arm assemblies 2, a supporting plate is installed at the top ends of the lifting mechanisms 202, the end surfaces of the vehicle head device 1 are located at two sets of lifting arm assemblies 2, both upper and lower horizontal slide rails 103 are installed on the two sets of lifting arm assemblies 2, two slide blocks 105 are installed on each slide rail 103, a connecting block a206 is installed on the end surface of the lifting arm assemblies 2, and the slide blocks 105 are fixedly connected with the connecting block a206, the end surface of the headstock device 1, which is positioned at each group of lifting arm assemblies 2, is also provided with a linear driving mechanism 104, and the linear driving mechanism 104 is used for driving the lifting arm assemblies 2 to horizontally move along the slide rails 103.
The linear driving mechanism 104 of this embodiment includes two bearing seats 141, a screw 143 is installed between the two bearing seats 141, one end of the screw 143 is connected to a servo motor 144, the screw 143 is connected to a nut connecting member 142, a connecting block B207 is disposed on an end surface of the lifting arm assembly 2, and the nut connecting member 142 is fixedly connected to the connecting block B207 of the lifting arm assembly 2.
Referring to fig. 9, two sets of driving universal wheel driving mechanisms 201 are installed at the bottom of each set of lifting arm assembly in the embodiment, each driving universal wheel driving mechanism 201 includes a fixed bracket 212, a rotary support 218 is installed on the fixed bracket 212, an outer bearing surface of the rotary support 218 is connected with the fixed bracket 212, a flange type driving shaft 217 is installed in an inner hole of the rotary support 218, the flange type driving shaft 217 penetrates through the fixed bracket 212 downwards and is connected with a roller frame, a double-row driving universal wheel 215 is installed in the roller frame, a rotary encoder 216 is installed on the flange type driving shaft 217 to detect a rotation angle of the driving shaft, a driven sprocket 213 is installed at the upper end of the flange type driving shaft 217, a servo motor 211 is installed at one side of the fixed bracket 212, a driving sprocket 214 is installed at an output end of the servo motor 211, and the driving sprocket 214 is connected with the driven sprocket 213 through chain transmission.
Referring to fig. 7-8, the end surface of the lifting arm assembly 2 in this embodiment is provided with two locking holes 205, the axes of the locking holes 205 are arranged along the vertical direction, an electric locking mechanism is installed on the head device 1 corresponding to each group of lifting arm assemblies 2, the electric locking mechanism is provided with an electric control telescopic pin shaft 102, and when the lifting arm assemblies 2 move to the right position, the electric locking mechanism is inserted into the locking holes 205 through the telescopic pin shaft 102 to lock the lifting arm assemblies 2.
The specific structure of the electric locking mechanism is described and disclosed in the patent CN213501675U previously applied by the applicant.
In this embodiment, the outer side and the outer end face of the lifting arm assembly 2 are provided with a distance measuring sensor 203, and the outer end face of the lifting arm assembly 2 is further provided with a radar 204 for scanning obstacles.
Claims (5)
1. The utility model provides a lift arm interval adjustable qxcomm technology autonomous navigation and bear formula AGV, includes the locomotive device, is equipped with control system and laser navigation sensor in the locomotive device, and the drive wheel subassembly is equipped with to locomotive device bottom, and a set of lifting arm subassembly, characterized by are respectively equipped with to the left and right sides of locomotive device one end: the bottom of the lifting arm assembly is provided with a driving universal wheel, the end face of the headstock device is positioned at two groups of lifting arm assemblies and is provided with a horizontal sliding rail, a sliding block is arranged on the sliding rail, the sliding block is fixedly connected with the lifting arm assembly, the end face of the headstock device is positioned at each group of lifting arm assemblies and is also provided with a linear driving mechanism, and the linear driving mechanism is used for driving the lifting arm assemblies to horizontally move along the sliding rail.
2. The AGV with omnidirectional autonomous navigation and load bearing of claim 1, wherein the distance between the lifting arms is adjustable: the linear driving mechanism comprises two bearing seats, a screw rod is arranged between the two bearing seats, one end of the screw rod is connected with a servo motor, a nut connecting piece is connected onto the screw rod, and the nut connecting piece is fixedly connected with the lifting arm assembly.
3. The AGV with omnidirectional autonomous navigation and load bearing of claim 1, wherein the distance between the lifting arms is adjustable: two groups of driving universal wheel driving mechanisms are arranged at the bottom of each group of lifting arm assemblies and comprise a fixed support, a rotary support is arranged on the fixed support, the outer bearing surface of the rotary support is connected with the fixed support, a flange type driving shaft is arranged in an inner hole of the rotary support, the flange type driving shaft penetrates through the fixed support downwards and is connected with a roller frame, double rows of driving universal wheels are arranged in the roller frame, a rotary encoder is arranged on the flange type driving shaft to detect the rotating angle of the driving shaft, a driven chain wheel is arranged at the upper end of the flange type driving shaft, a servo motor is arranged on one side of the fixed support, a driving chain wheel is arranged at the output end of the servo motor, and the driving chain wheel is in transmission connection with the driven chain wheel through a chain.
4. The AGV with omnidirectional autonomous navigation and load bearing of claim 1, wherein the distance between the lifting arms is adjustable: the end face of the lifting arm assembly is provided with at least two locking holes, the axes of the locking holes are arranged along the vertical direction, an electric locking mechanism is arranged on the headstock device corresponding to each group of lifting arm assemblies, the electric locking mechanism is provided with an electric control telescopic pin shaft, and when the lifting arm assembly moves in place, the electric locking mechanism is inserted into the locking holes through the telescopic pin shaft so as to lock the lifting arm assembly.
5. The AGV with omnidirectional autonomous navigation and load bearing of claim 1, wherein the distance between the lifting arms is adjustable: the outer side and the outer end face of the lifting arm assembly are provided with distance measuring sensors, and the outer end face of the lifting arm assembly is also provided with a radar for scanning obstacles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110867702.XA CN113460197A (en) | 2021-07-30 | 2021-07-30 | Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110867702.XA CN113460197A (en) | 2021-07-30 | 2021-07-30 | Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval |
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| Publication Number | Publication Date |
|---|---|
| CN113460197A true CN113460197A (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110867702.XA Pending CN113460197A (en) | 2021-07-30 | 2021-07-30 | Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911963A (en) * | 2021-10-11 | 2022-01-11 | 顺德职业技术学院 | Autonomous moving and positioning fork lifting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201144139Y (en) * | 2007-11-09 | 2008-11-05 | 梁展枝 | Width-adjustable fork |
| WO2016019538A1 (en) * | 2014-08-07 | 2016-02-11 | 深圳市凯卓立液压设备有限公司 | Mobile lifting machine for vehicle maintenance |
| CN209290557U (en) * | 2018-12-20 | 2019-08-23 | 合肥井松自动化科技有限公司 | A kind of wheel group structure of omnidirectional moving |
| CN112811352A (en) * | 2021-02-22 | 2021-05-18 | 江西省智能产业技术创新研究院 | Robot forklift for intelligent logistics |
| CN215043263U (en) * | 2021-07-30 | 2021-12-07 | 湖北三丰机器人有限公司 | Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval |
-
2021
- 2021-07-30 CN CN202110867702.XA patent/CN113460197A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201144139Y (en) * | 2007-11-09 | 2008-11-05 | 梁展枝 | Width-adjustable fork |
| WO2016019538A1 (en) * | 2014-08-07 | 2016-02-11 | 深圳市凯卓立液压设备有限公司 | Mobile lifting machine for vehicle maintenance |
| CN209290557U (en) * | 2018-12-20 | 2019-08-23 | 合肥井松自动化科技有限公司 | A kind of wheel group structure of omnidirectional moving |
| CN112811352A (en) * | 2021-02-22 | 2021-05-18 | 江西省智能产业技术创新研究院 | Robot forklift for intelligent logistics |
| CN215043263U (en) * | 2021-07-30 | 2021-12-07 | 湖北三丰机器人有限公司 | Omnidirectional autonomous navigation bearing type AGV with adjustable lifting arm interval |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113911963A (en) * | 2021-10-11 | 2022-01-11 | 顺德职业技术学院 | Autonomous moving and positioning fork lifting robot |
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