CN113979359B

CN113979359B - AGV trolley for intelligent manufacturing production line

Info

Publication number: CN113979359B
Application number: CN202111262953.1A
Authority: CN
Inventors: 郑祥盘; 吴宁钰; 唐晓腾
Original assignee: Minjiang University
Current assignee: Minjiang University
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2024-05-24
Anticipated expiration: 2041-10-28
Also published as: CN113979359A

Abstract

The invention relates to the technical field of AGV trolleys, in particular to an AGV trolley for an intelligent manufacturing production line, which comprises a trolley body provided with wheels, wherein a first setting groove is formed in the trolley body, a lifting rod assembly, the top of which is provided with a goods bucket, is arranged in the first setting groove and used for controlling the goods supply height, a second setting groove is formed in the bottom of the trolley body, and a pair of anti-tilting brackets capable of being unfolded and folded from the bottom of the trolley body and a driving mechanism used for driving the anti-tilting brackets to move are arranged in the second setting groove. The invention provides a cargo bucket of an AGV (automatic guided vehicle) capable of lifting, wherein a lifting rod assembly can automatically lift to the height according to requirements so as to be convenient to use, unloading and loading can be carried out from multiple directions, and the distance between two positioning plates can be adjusted so as to store materials with different specifications and sizes in the cargo bucket, so that the cargo bucket has better adaptability.

Description

AGV trolley for intelligent manufacturing production line

Technical Field

The invention is applied to the technical field of AGV trolleys, and particularly relates to an AGV trolley for an intelligent manufacturing production line.

Background

Logistics robot trucks, also commonly referred to as AGV carts, are equipped with automatic guides, such as electromagnetic or optical guides, that can travel along a prescribed guide path, and are capable of safety protection and various transfer functions, and are used in industrial applications without the need for a driver's truck, with a rechargeable battery as its source of power. Generally, the traveling route and behavior of the vehicle can be controlled by a computer, or the traveling route can be established by utilizing an electromagnetic track, the electromagnetic track is adhered to the floor, and the unmanned carrier moves and acts by means of information brought by the electromagnetic track.

However, the existing AGV trolley is poor in stability when lifting materials, so that the trolley body of the trolley is inclined, and in the conveying process of the trolley, the gravity center of the trolley is unstable in the running process of the trolley due to the fact that the conveyed objects are large, so that the AGV trolley and the conveyed goods are lost, and therefore, the development of the tilting-resistant AGV trolley with adjustable shelf positions for intelligent manufacturing production lines is needed to solve the problems.

Disclosure of Invention

The invention aims to solve the technical problem of providing an AGV trolley for an intelligent manufacturing production line aiming at the defects of the prior art.

In order to solve the technical problems, the AGV trolley for the intelligent manufacturing production line comprises a trolley body provided with wheels, wherein a first setting groove is formed in the trolley body, a lifting rod assembly, the top of which is provided with a goods bucket, is arranged in the first setting groove and used for controlling the goods feeding height, a second setting groove is formed in the bottom of the trolley body, and a pair of anti-tilting brackets capable of being unfolded and folded from the bottom of the trolley body and a driving mechanism used for driving the anti-tilting brackets to move are arranged in the second setting groove.

As a possible implementation manner, further, the anti-falling bracket comprises a side plate, a supporting rod and a cross rod, wherein a plurality of groups of supporting rods are arranged on the cross rod, the side plate is arranged at one outward end of the supporting rod, the cross rod is fixedly arranged at the movable end of the driving mechanism, two ends of the cross rod are slidably arranged in the second guide groove, and the second guide groove is arranged on the side wall of the second setting groove.

As a possible implementation manner, further, the lifting rod assembly comprises a driving motor, a bidirectional screw rod and a shell, wherein the driving motor is installed on one side in the first setting groove, one end of the bidirectional screw rod is connected with the output end of the driving motor, the other end of the bidirectional screw rod is rotationally connected with the side wall of the first setting groove, two threaded ends of the bidirectional screw rod are in threaded connection with a limiting sliding seat, two sides of the limiting sliding seat are hinged with connecting rods, the upper end of each connecting rod is hinged with a sliding block, a guide rod is connected with the sliding block in a sliding mode, the guide rod is installed in the shell, and the cargo bucket is arranged at the top of the shell.

As a possible implementation manner, further, the driving mechanism comprises a double-headed motor, a lead screw and a lead screw nut, the double-headed motor is fixedly installed in the middle of the second setting groove, two output shafts of the double-headed motor face the left side and the right side of the vehicle body, the lead screw is fixedly installed with the output shafts of the double-headed motor, the lead screw is screwed with the lead screw nut, and the cross rod is fixedly installed with the lead screw nut.

As a possible implementation manner, further, the cargo bucket comprises a basket box, a positioning plate, a screw and a knob, wherein the basket box is installed at the top of the lifting rod assembly, the screw is in threaded connection with a screw hole correspondingly formed in the side edge of the basket box, the knob is installed at one outward end of the screw, one inward end of the screw is rotationally connected to the side face of the positioning plate, guide protruding blocks are installed at the left side and the right side of the positioning plate, the guide protruding blocks are slidably arranged in first guide grooves, and the first guide grooves are formed in the side edge of the basket box.

As a possible implementation manner, further, a soft base plate is installed on the inward side of the positioning plate, and a correlation sensor is also arranged in the basket.

As a possible implementation manner, further, four struts are mounted on the cross bar.

As a possible implementation manner, further, an RFID reader is installed at the bottom of the vehicle body, and magnetic navigation sensors are installed at the front and rear sides of the vehicle body.

As a possible implementation manner, further, a guard bar is arranged at the head and tail of the vehicle body.

The invention adopts the technical scheme and has the following beneficial effects:

1. this goods fill of AGV dolly can go up and down, and wherein lifter subassembly can rise to its height automatically as required to use, can follow diversified to unload and the material loading, and distance between two adjustable locating plates, so that deposit the material of different specification sizes in the goods fill, make the suitability of goods fill better, the setting of cooperation soft backing plate can reduce the pressure loss of two locating plates to the material.

2. By unfolding the two groups of anti-falling brackets when the cargo bucket rises, when the car body of the AGV inclines to one side, the side plate in the inclined anti-falling bracket on one side can be in support with the ground in a propping way, so that the AGV is prevented from tipping and turning over.

3. Be provided with the balancing weight in two sets of anti support that fall of this AGV dolly, can further stabilize the whole focus of this AGV dolly after two sets of anti supports that fall expand, be favorable to this AGV dolly to keep the stability of automobile body.

Drawings

The invention is described in further detail below with reference to the attached drawings and detailed description:

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a cross-sectional view of the internal structure of the present invention;

FIG. 3 is a schematic view of the structure of the bottom of the vehicle body of the present invention;

FIG. 4 is a schematic top view of the cargo bucket of the present invention;

FIG. 5 is a schematic view of the structure of the anti-fall bracket of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in fig. 1, the invention provides an anti-tilting AGV trolley with adjustable shelf positions for an intelligent manufacturing production line, which comprises a trolley body 1, wheels 2 are arranged at the bottom of the trolley body 1, a first setting groove 3 is formed in the upper end of the trolley body 1, a lifting rod assembly 4 is arranged in the first setting groove 3, a cargo hopper 5 is arranged at the top of the lifting rod assembly 4, a second setting groove 6 is formed in the bottom of the trolley body 1, two anti-tilting brackets 7 capable of being unfolded and folded from the bottom of the trolley body 1 and a driving mechanism 8 for driving the two anti-tilting brackets 7 to move are arranged in the second setting groove 6, the anti-tilting brackets 7 comprise side plates 701, supporting rods 702 and a transverse rod 703, a plurality of supporting rods 702 are arranged on the transverse rod 703, the side plates 71 are arranged at the tail ends of the supporting rods 702 outwards, the transverse rod 703 is fixedly arranged with the movable end of the driving mechanism 8, the transverse rod 703 is guided for the movement of the anti-tilting brackets 7, two ends of the transverse rod 703 are slidably arranged in the second guide groove 601, and the second guide groove 601 is arranged on the side wall of the second setting groove 6.

Referring to fig. 2, the lifting rod assembly 4 includes a driving motor 401, a bi-directional screw 402 and a housing 403, the driving motor 401 is installed at one side in the first setting groove 3, one end of the bi-directional screw 402 is connected to an output end of the driving motor 401, the other end of the bi-directional screw 42 is rotatably connected to a side wall of the first setting groove 3, two threaded ends of the bi-directional screw 42 are screwed with a limit sliding seat 404, a bottom of the limit sliding seat 404 is slidably installed in the first setting groove 3, two sides of the limit sliding seat 404 are hinged with a connecting rod 405, an upper end of the connecting rod 405 is hinged with a sliding block 406, a guide rod 407 is slidably connected in the sliding block 406, the guide rod 407 is installed in the housing 403, and the bucket 5 is installed at a top of the housing 403.

Referring to fig. 3 and 5, in order to ensure structural stability of the anti-falling bracket 7, four struts 702 are mounted on the cross bar 703, and the specific arrangement mode is that two struts 702 are symmetrically mounted at the left and right ends of the cross bar 703 respectively. In order to balance the center of gravity of the AGV when the anti-roll stand 7 is extended outward, the strut 702 is provided with a counterweight 704 between the outer sides of the vehicle body 1.

Referring to fig. 3, the driving mechanism 8 includes a double-headed motor 801, a screw 802 and a screw nut 803, the double-headed motor 801 is fixedly mounted in the middle of the second setting groove 6, two output shafts of the double-headed motor 801 are disposed towards the left and right sides of the vehicle body 1, the screw 802 is fixedly mounted with the output shaft of the double-headed motor 801, the screw nut 803 is screwed on the screw 802, and the cross bar 703 is fixedly mounted with the screw nut 803.

Referring to fig. 4, the cargo bucket 5 includes a basket 501, a positioning plate 502, a screw 503 and a knob 504, the basket 501 is mounted at the top of the lifting rod assembly 4, the screw 503 is screwed into a screw hole correspondingly formed in the side of the basket 501, the knob 504 is mounted at one outward end of the screw 503, one inward end of the screw 503 is rotatably connected to the side of the positioning plate 502, guide protrusions 505 are mounted at the left and right sides of the positioning plate 502, the guide protrusions 505 are slidably disposed in a first guide groove 506, and the first guide groove 506 is formed in the side of the basket 501. In order to avoid the pressure loss of the positioning plates 502 to the cargo materials, a soft pad 507 is installed on the inward side of the two positioning plates 502. For detecting whether the basket 501 is loaded with cargo, an correlation sensor 9 is also provided in the basket 501.

Referring to fig. 3, in order to scan the RFID on the ground and determine whether the present AGV car is located in a predetermined area, an RFID reader 10 is installed at the bottom of the car body 1; for determining the current position of the present AGV, magnetic navigation sensors 11 are installed on the front and rear sides of the vehicle body 1.

Referring to fig. 2 and 3, in order to improve the collision resistance of the present AGV trolley body 1, the front and rear parts of the vehicle body 1 are provided with the guard bars 12, and the wheels 2 can be effectively protected by setting the guard bars 12, so as to avoid collision, and the two sets of guard bars 12 are arranged at the lower edges of the front and rear parts, wherein the setting heights of the side plates 701 in the two anti-falling brackets 7 are level with the setting heights of the two guard bars 12.

The specific implementation mode of the invention is as follows: the lifting rod assembly 4 drives the bidirectional screw rod 402 to rotate through the driving motor 401, the rotation of the bidirectional screw rod 402 drives the two limit sliding seats 404 in threaded connection with the bidirectional screw rod to move in opposite directions, the two limit sliding seats 404 drive the connecting rod 405 hinged to the two limit sliding seats to move, and the connecting rod 405 drives the sliding block 406 hinged to the uppermost end of the connecting rod to slide on the guide rod 407 so as to lift the height of the cargo bucket 5. The push screw 503 can be rotated by rotating the knob 504, and the distance between the two positioning plates 502 can be adjusted, so that materials with different specifications and sizes can be stored in the cargo bucket 5, the cargo bucket 5 is better in adaptability, and the pressure loss of the two positioning plates 502 to the materials can be reduced by matching with the setting of the soft base plate 507.

In the process that the bucket 5 risees, the double-end motor 801 in the actuating mechanism 8 drives the lead screw 802 that both ends are connected to rotate, two lead screws 802 drive screw nut 803 that screw thread is connected to it and reciprocate along lead screw 802 length direction, along with the removal of screw nut 803 make two sets of anti-falling bracket 7 of accomodating in second setting groove 6 expand to the outside, through expand two sets of anti-falling bracket 7 when bucket 5 risees, when the automobile body of this AGV dolly inclines to one side, thereby the sideboard 701 in slope one side anti-falling bracket 7 will play the effect of supporting with ground looks butt and avoid this AGV dolly to take place to empty the side turning, and through being provided with balancing weight 704 in two sets of anti-falling bracket 7, can further stabilize the whole focus of this AGV dolly after two sets of anti-falling bracket 7 expand, be favorable to this AGV dolly to keep the stability of automobile body 1.

An AGV trolley anti-toppling control method for an intelligent manufacturing production line, which needs to provide the AGV trolley for the intelligent manufacturing production line, comprises the following steps:

The method comprises the steps that a bucket height detection anti-toppling system is arranged, the motor monitoring system is connected with a driving motor and used for monitoring the rotation direction, speed and time of the driving motor, the motor monitoring system judges the lifting direction state of a lifting rod assembly through monitoring the rotation direction of the driving motor, the height of a bucket at the top of the lifting rod assembly is judged through monitoring the rotation speed and time of the driving motor, when the height of the bucket reaches a preset height threshold value, the gravity center of the bucket is too high, at the moment, the motor monitoring system sends a signal to an external controller, and the external controller controls a driving mechanism to drive an anti-toppling bracket to be unfolded to perform anti-toppling operation;

The method comprises the steps that the inclination of a vehicle body is detected to prevent toppling, a gyroscope for monitoring the posture of the vehicle body is arranged on the surface of the vehicle body, a processor is utilized to receive and process data output by the gyroscope in real time, the gyroscope outputs horizontal, pitching and angular speed data of the vehicle body in real time, the processor receives the data and compares the data with a preset operation threshold, when the received horizontal and pitching angle data exceeds the preset operation threshold, the data is judged to be in an easy toppling state, at the moment, the processor sends a signal to an external controller, and the external controller controls a driving mechanism to drive a toppling-resistant bracket to be unfolded to prevent toppling; when the received angular speed data exceeds a preset operation threshold, the received angular speed data is judged to topple, at the moment, the processor sends a signal to the external controller, and the external controller controls the external alarm to perform buzzing alarm operation to warn an operator AGV that topples.

While the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.

Claims

1. The AGV trolley anti-toppling control method for the intelligent manufacturing production line is characterized by comprising a trolley body provided with wheels, wherein a first setting groove is formed in the trolley body, a lifting rod assembly for controlling the feeding height is arranged at the top of the lifting rod assembly, a second setting groove is formed in the bottom of the trolley body, and a pair of anti-toppling brackets capable of being unfolded and folded from the bottom of the trolley body and a driving mechanism for driving the anti-toppling brackets to move are arranged in the second setting groove;

the anti-fall bracket comprises a side plate, support rods and a cross rod, wherein four support rods are arranged on the cross rod, and the concrete arrangement mode is that two support rods are symmetrically arranged at the left end and the right end of the cross rod respectively, and a balancing weight is arranged between the two support rods and the outer side of a vehicle body; the side plates are arranged at the outward end of the supporting rod, the cross rod and the movable end of the driving mechanism are fixedly arranged, the two ends of the cross rod are slidably arranged in the second guide groove, and the second guide groove is formed in the side wall of the second setting groove;

The driving mechanism comprises a double-headed motor, a lead screw and a lead screw nut, the double-headed motor is fixedly arranged in the middle of the second setting groove, two output shafts of the double-headed motor are arranged towards the left side and the right side of the vehicle body, the lead screw is fixedly arranged with the output shafts of the double-headed motor, the lead screw is connected with the lead screw nut in a threaded manner, and the cross rod is fixedly arranged with the lead screw nut;

in the process of lifting the cargo bucket, a double-headed motor in the driving mechanism drives screw rods connected with two ends to rotate, two screw rods drive screw rod nuts which are connected with the screw rods in a threaded manner to move back and forth along the length direction of the screw rods, and along with the movement of the screw rod nuts, the two groups of anti-falling brackets accommodated in the second setting groove are unfolded outwards; when the height of the cargo bucket reaches a preset height threshold, judging that the gravity center of the cargo bucket is too high, and controlling the driving mechanism to drive the anti-falling bracket to be unfolded so as to perform anti-falling operation; when the received horizontal and pitching angle data exceeds a preset operation threshold value, judging that the data is in an easy-toppling state, and controlling a driving mechanism to drive the anti-toppling bracket to be unfolded so as to perform anti-toppling operation; when the car body of the AGV car inclines to one side, a side plate in the tilting side anti-falling bracket is abutted with the ground to play a supporting role, so that the AGV car is prevented from tilting and turning over;

The cargo bucket comprises a basket box, a positioning plate, a screw and a knob, wherein the basket box is arranged at the top of the lifting rod assembly, the screw is in threaded connection with a screw hole correspondingly formed in the side edge of the basket box, the knob is arranged at one outward end of the screw, one inward end of the screw is rotationally connected to the side face of the positioning plate, guide lugs are arranged at the left side and the right side of the positioning plate, the guide lugs are slidably arranged in a first guide groove, and the first guide groove is formed in the side edge of the basket box;

The lifting rod assembly comprises a driving motor, a bidirectional screw rod and a shell, wherein the driving motor is arranged on one side in the first setting groove, one end of the bidirectional screw rod is connected with the output end of the driving motor, the other end of the bidirectional screw rod is rotationally connected to the side wall of the first setting groove, two threaded ends of the bidirectional screw rod are in threaded connection with a limiting sliding seat, two sides of the limiting sliding seat are hinged with connecting rods, the upper end of the connecting rod is hinged with a sliding block, a guide rod is connected in the sliding block in a sliding manner, the guide rod is arranged in the shell, and the cargo bucket is arranged at the top of the shell;

A soft base plate is arranged on the inward side of the positioning plate, and a correlation sensor is also arranged in the basket box;

The RFID readers are arranged at the bottom of the car body, and magnetic navigation sensors are arranged at the front side and the rear side of the car body;

The vehicle head and the vehicle tail of the vehicle body are provided with a fence guard bar;

The method comprises the following steps: