CN209159845U - A kind of AGV with adaptive inclined-plane function - Google Patents
A kind of AGV with adaptive inclined-plane function Download PDFInfo
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- CN209159845U CN209159845U CN201821500997.7U CN201821500997U CN209159845U CN 209159845 U CN209159845 U CN 209159845U CN 201821500997 U CN201821500997 U CN 201821500997U CN 209159845 U CN209159845 U CN 209159845U
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- push rod
- chassis
- agv
- lifting mechanism
- rocking bar
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Abstract
AGV disclosed by the utility model with adaptive inclined-plane function, including chassis, lifting mechanism, driving device, mounting bracket, level detection device and control module, there are two the lifting mechanism is set, it is respectively arranged on the two sides on the chassis, the level detection device and lifting mechanism are electrically connected with the control module respectively, the lifting mechanism connects the chassis and the mounting bracket, the driving device is set in mounting bracket, for driving the AGV to advance, the level detection device is for detecting inclination angle of the chassis relative to horizontal position, the lifting mechanism of inclination angle control two that the control module is fed back according to level detection device acts so that the chassis keeps horizontality.The AGV of the utility model inclined-plane when driving, chassis is detected relative to the inclination angle of horizontal position by level detection device and feeding back to control module and controlling two lifting mechanisms and act makes chassis keep horizontality, cargo is caused to be toppled over when avoiding AGV climbing, using reliable.
Description
Technical field
The utility model belongs to operation and technical field of transportation, and in particular to a kind of AGV with adaptive inclined-plane function.
Background technique
With the demand that the raising and industrial automation of human cost are transported, AGV is increasingly becoming important remove in enterprise
Fortune tool, traditional backpack AGV is only capable of transported material, in order to expand the application range of AGV, often adds other function knot
Structure cooperates AGV to use, to improve the practicability of AGV.
Currently, the functional structure that more cooperation AGV is used is lifting mechanism, by the way that lifting mechanism is arranged on AGV, improve
The stereo warehouse ability in space and the labour for greatly reducing manpower transport, however, in the case where some carryings, such as
When the stroke of AGV lifting is insufficient for demand, needs AGV to climb to reduce the height for needing to lift, hold during AGV climbing
The cargo of load is easily caused to topple over, so, in order to avoid the cargo of AGV load is toppled on the slope, the slope on the slope of traveling
Spend more gentle, but the setting for simultaneously resulting in slope occupies very large space, is unfavorable for the efficient utilization in space.In addition, existing
Having most agv lifting mechanism is usually motor push rod type lifting, since to occupy height high for putter body so that the chassis AGV from
The distance on ground is larger, when need to carry quality is larger, volume larger material when, increase the homework burden of staff, from
And it brings inconvenient for use.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of with adaptive inclined-plane function
AGV avoids AGV from causing cargo to be toppled over when creeping on steep bevel, while reducing the liftoff spacing on the chassis AGV, using reliable.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of AGV with adaptive inclined-plane function, including chassis, lifting mechanism, driving device, mounting bracket, level
Detection device and control module there are two the lifting mechanism is set, are respectively arranged on the two sides on the chassis, the horizontal detection dress
It sets and is electrically connected respectively with the control module with lifting mechanism, the lifting mechanism connects the chassis and the mounting bracket,
The driving device is set in mounting bracket, and for driving the AGV to advance, the level detection device is for detecting chassis phase
For the inclination angle of horizontal position, the control module controls two lifting machines according to the inclination angle that level detection device is fed back
Structure acts so that the chassis keeps horizontality.
Compared with prior art, the AGV with adaptive inclined-plane function of the utility model, AGV inclined-plane when driving, lead to
Level detection device detection chassis is crossed relative to the inclination angle of horizontal position and feeds back to control module to control two lifting mechanisms dynamic
Work makes the chassis keep horizontality, causes cargo to be toppled over when avoiding AGV climbing；Moreover, slope in workshop is effectively reduced
Take up space, using reliable.
Preferably, the lifting mechanism includes push rod and rocking bar, one end of the rocking bar and push rod with the chassis bottom
Portion is hinged, and the other end of the two is hinged with the mounting bracket, and the rocking bar and push rod are inclined to set, and the push rod is stretched
Out and retraction links the rocking bar and mounting bracket to change the distance between driving device and chassis, the control module according to
The progressive error that two push rod of inclination angle state modulator of level detection device feedback stretches out is so that the chassis keeps horizontality；It is logical
It crosses in this way, reducing the liftoff spacing on chassis by the way of being obliquely installed push rod linkage rocking bar lifting, realizing that chassis is low
Height lifts, easy to use.
Preferably, lifting mechanism further includes mounting plate, and the mounting plate is set to tray bottom, and the rocking bar and push rod are separate
One end of mounting bracket is hinged with the mounting plate respectively, and the mounting plate, push rod, mounting bracket and rocking bar constitute double leval jib machine
Structure；It is arranged in this way, lifting mechanism and driving wheel is set integral, facilitates global facility installation and replacement.
Preferably, the push rod is set to the front side of the rocking bar, and the length of the push rod is less than the length of the rocking bar, or
The rear side of the rocking bar is arranged in person, the push rod, and the length of the push rod is greater than the length of the rocking bar；It sets in this way
It sets, the lifting or decline on chassis is controlled by the way of link mechanism linkage, lifting is stablized.
Preferably, there are two the rocking bar is set, the two sides below the push rod are respectively arranged on；Using this structure, rocking bar
It is integrally triangularly arranged, is connected between mounting bracket and mounting plate more firm with push rod.
Preferably, the corresponding lifting mechanism of the driving device is equipped with two groups, is respectively arranged on the two of the mounting bracket
End, is arranged in this way, keeps driving wheel bearing lifting mechanism and chassis more stable.
Preferably, the driving device can also realize original so that AGV not only has straight trip and traverse moving function for steering wheel
The function of ground rotation, it is easy to use；Or the driving device includes driving motor and driving wheel, the driving motor is for driving
Move the drive wheel works.
Preferably, the mounting bracket is arranged in a mutually vertical manner with chassis, convenient for the setting of the chassis agv in lower height, side
Just the unloading of cargo.
Preferably, the control module is electrically connected with the driving device, and the driving direction of the driving device is lifted with two
The line direction for rising mechanism is arranged in parallel；Convenient for two sides driving come closer cooperate push rod linkage four-bar mechanism lifting or.
Preferably, the cylinder body of the push rod and the mounting bracket are hinged, and the telescopic rod and mounting plate of push rod are hinged；Or
Person, the cylinder body of push rod and the mounting plate are hinged, and the telescopic rod and mounting bracket of push rod are hinged；The push rod be air-leg or
Hydraulic push rod or electric pushrod；It is arranged in this way, compared to the mode of conventionally employed motor lifting, more using push rod cost
It is low.
Preferably, the level detection device is set on chassis, is arranged in this way, and horizontal detection accuracy is high.
Detailed description of the invention
Fig. 1 is the schematic diagram for the AGV that the utility model has adaptive inclined-plane function；
Fig. 2 is the side view of AGV reset condition；
Fig. 3 is the side view that AGV lifts state；
Fig. 4 is the schematic diagram that AGV is travelled on inclined-plane；
Fig. 5 is the cross-sectional view of AGV in Fig. 4；
Fig. 6 is the schematic diagram of lifting mechanism and driving wheel；
Fig. 7 is the schematic diagram that AGV rotates in place state；
Fig. 8 is driving wheel driving direction and two lifting mechanism line directions schematic diagram in the same direction；
Fig. 9 is the schematic diagram of AGV transverse shifting；
Figure 10 is the side view of lifting mechanism reset condition；
Figure 11 is the side view that lifting mechanism lifts state.
Specific embodiment
Below in conjunction with Detailed description of the invention the technical solution of the utility model includes:
Referring to Fig. 1 to Fig. 6, Figure 10 and Figure 11, the AGV with adaptive inclined-plane function of the utility model, including chassis
1, lifting mechanism, driving device, level detection device and control module, the driving device include driving motor 21 and driving wheel
22, there are two the lifting mechanism is set, the two sides on the chassis 1 are respectively arranged on, the lifting mechanism includes push rod 32 and installation
Bracket 33, the push rod 32 are mounted in mounting bracket 33 with being obliquely installed, and the extended or retracted of the push rod 32 acts on institute
1 bottom of chassis is stated, the level detection device and push rod 32 are electrically connected with control module respectively, and the driving wheel 22 is set to driving
On motor 21, the driving device is set in mounting bracket 33, and for driving the AGV to advance, the driving wheel 22 passes through act
It rises mechanism and supports the chassis 1, the level detection device is described for detecting inclination angle of the chassis 1 relative to horizontal position
The progressive error that two push rod 32 of inclination angle state modulator that control module is fed back according to level detection device stretches out is so that the chassis 1
Keep horizontality.
Compared with prior art, the AGV with adaptive inclined-plane function of the utility model, AGV inclined-plane when driving, lead to
Level detection device detection chassis 1 is crossed relative to the inclination angle of horizontal position and feeds back to control module control two push rods 32 stretching
Stroke official post described in chassis 1 keep horizontality, avoid AGV climbing when cause cargo to be toppled over；Moreover, workshop is effectively reduced
Interior slope takes up space, using reliable.
The lifting mechanism further includes rocking bar 31, one end of the rocking bar 31 and push rod 32 with it is hinged with 1 bottom of chassis.
The other end of the two is hinged with the mounting bracket 33, the extended and retracted linkage of the push rod 32 rocking bar 31 and installation
Bracket 33 is to change the distance between driving wheel 22 and chassis 1；Be arranged in this way, using be obliquely installed push rod 32 link rocking bar
The mode of 31 liftings, reduces the liftoff spacing on chassis 1, realizes the lifting of 1 low clearance of chassis, easy to use
Referring to fig. 4 to Fig. 6, Figure 10 and Figure 11, preferably, lifting mechanism further includes mounting plate 34, the installation
Plate 34 is set to 1 bottom of chassis, and the one end of the rocking bar 31 and push rod 32 far from mounting bracket 33 is cut with scissors with the mounting plate 34 respectively
It connects, the mounting plate 34, push rod 32, mounting bracket 33 and rocking bar 31 constitute four-bar mechanism；It is arranged in this way, makes lifting machine
Structure and driving wheel 22 are arranged integrally, facilitate global facility installation and replacement.
Preferably, the cylinder body of the push rod 32 and the mounting plate 34 are hinged, the telescopic rod of push rod 32 and installation
Bracket 33 is hinged or (not shown), and the cylinder body of push rod and the mounting bracket 33 are hinged, the telescopic rod of push rod and installation
Plate 34 is hinged.
Preferably, the push rod 32 is set to the front side (upside of such as Fig. 5) of the rocking bar 31, the push rod 32
Length is less than the length of the rocking bar 31, there are two the rocking bar 31 is set, is respectively arranged on the two sides of 32 lower section of push rod；Using
This structure, rocking bar 31 and 32 entirety of push rod are triangularly arranged, and connect between mounting bracket 33 and mounting plate 34 more firm.
Or the rear side of the rocking bar 31 is arranged in (not shown), the push rod 32, the length of the push rod 32 is big
In the length of the rocking bar 31.
Preferably, the corresponding lifting mechanism of the driving device is equipped with two groups, is respectively arranged on the installation branch
The both ends of frame 33, are arranged in this way, keep the bearing lifting mechanism of driving wheel 22 and chassis 1 more stable.
Preferably, the driving motor 21 is direct-drive motor, and the direct-drive motor drives for driving
Driving wheel 22 rotates；It is arranged in this way, driving method is simple, at low cost.
Or (not shown), referring to Fig. 7 to Fig. 9, the driving device is steering wheel, so that AGV not only has straight trip
And traverse moving function, it can also realize the function of rotating in place, it is easy to use.
Preferably, the mounting bracket 33 is arranged in a mutually vertical manner with chassis 1, is arranged convenient for the chassis agv 1 lower
Height, facilitate the unloading of cargo.
Preferably, the control module is electrically connected with the driving device, the driving direction of the driving wheel 22
It is arranged in parallel with the line direction of two lifting mechanisms；It comes closer convenient for two sides driving and cooperates the linkage four-bar mechanism of push rod 32
Lifting or.
Preferably, the push rod is the one of which of air-leg or hydraulic push rod or electric pushrod, preferably
Electric pushrod is not necessarily to trachea or hydraulic tube, convenient for assembly；It is arranged in this way, compared to the mode of conventionally employed motor lifting,
It is lower using push rod cost.
Preferably, level detection device is level meter, and the control module is plc, the level detection device
On chassis 1, it is arranged in this way, horizontal detection accuracy is high.
Referring to fig. 2,3,10 and Figure 11, the AGV lifting of the utility model and decline working principle are as follows: when two side drive wheels
When 22 driving direction is parallel with the line direction of two lifting mechanisms, two side drive wheel 22 of shrink-fit of two sides push rod 32 is inwardly
Side draws close linkage four-bar mechanism and realizes that the lifting on chassis 1 or the stretching of push rod 32 cooperate two side drive wheels 22 remote outward
From the lifting that linkage four-bar mechanism realizes chassis 1, do work simultaneously in 1 lifting process of chassis by push rod 32 and driving wheel 22,
Lifting is stablized.Driving wheel 22 also has the function of the lifting of rocking bar 31 chassis 1 of linking other than the effect that driving AGV advances traveling,
Driving wheel 22 working method multiplicity, smart structural design；Compared to conventionally employed motor-driven mode, the lifting that the present invention designs
Infrastructure cost is lower, clever structure.
Referring to fig. 4,5,10 and Figure 11, in addition, lifting structures of the invention also have holding 1 horizontality of chassis on inclined-plane
The course of work specifically: for AGV during ground is excessively travelled to inclined-plane, level detection device can detecte more chassis 1
The inclination angle of its relative level, and feedback information to control module by the progressive error of the stretching of push rod 32 of control two sides and is matched
It closes the height official post chassis 1 that the linkage rocking bar 31 of driving wheel 22 lifts and keeps horizontality, prevent toppling over for 1 loading of chassis, use
Reliably.The concrete mode for the progressive error that push rod 32 by controlling two sides stretches out are as follows: AGV is excessively travelled on ground to the mistake on inclined-plane
Cheng Zhong, when level detection device detects that chassis 1 is in non-standard state, wherein a push rod 32 gradually stretches out for control, makes chassis 1
Horizontality is moved closer to, until the chassis AGV 1 keeps horizontality on inclined-plane, then stops push rod 32 and stops working, thus real
Now the control chassis AGV 1 keeps horizontality.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extent
It is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility model
Constitute any restrictions.
Claims (10)
1. a kind of AGV with adaptive inclined-plane function, it is characterised in that: including chassis, lifting mechanism, driving device, installation
Bracket, level detection device and control module there are two the lifting mechanism is set, are respectively arranged on the two sides on the chassis, described
Level detection device and lifting mechanism are electrically connected with the control module respectively, and the lifting mechanism connects the chassis and described
Mounting bracket, the driving device are set in mounting bracket, and for driving the AGV to advance, the level detection device is used for
Detect inclination angle of the chassis relative to horizontal position, the inclination angle control two that the control module is fed back according to level detection device
The lifting mechanism acts so that the chassis keeps horizontality.
2. the AGV according to claim 1 with adaptive inclined-plane function, it is characterised in that: the lifting mechanism includes
One end of push rod and rocking bar, the rocking bar and push rod is hinged with the tray bottom, the other end of the two with the installation
Bracket is hinged, and the rocking bar and push rod are inclined to set, the extended and retracted linkage rocking bar and mounting bracket of the push rod
To change the distance between driving device and chassis, the inclination angular dimensions control that the control module is fed back according to level detection device
The progressive error of two push rods stretching is made so that the chassis keeps horizontality.
3. the AGV according to claim 2 with adaptive inclined-plane function, it is characterised in that: lifting mechanism further includes peace
Loading board, the mounting plate be set to tray bottom, the one end of the rocking bar and push rod far from mounting bracket respectively with the mounting plate
Hingedly, the mounting plate, push rod, mounting bracket and rocking bar constitute four-bar mechanism.
4. the AGV according to claim 2 or 3 with adaptive inclined-plane function, it is characterised in that: the push rod is set to institute
The front side of rocking bar is stated, the length of the push rod is less than the length of the rocking bar, alternatively, after the rocking bar is arranged in the push rod
Side, the length of the push rod are greater than the length of the rocking bar.
5. the AGV according to claim 2 with adaptive inclined-plane function, it is characterised in that: there are two the rocking bar is set,
It is respectively arranged on the two sides below the push rod.
6. the AGV according to claim 1 with adaptive inclined-plane function, it is characterised in that: the driving device is corresponding
One lifting mechanism is equipped with two groups, is respectively arranged on the both ends of the mounting bracket.
7. the AGV according to claim 5 with adaptive inclined-plane function, it is characterised in that: the driving device is rudder
Wheel；
Or the driving device includes driving motor and driving wheel, the driving motor is for driving the drive wheel works.
8. according to the described in any item AGV with adaptive inclined-plane function of claim 5 to 7, it is characterised in that: the installation
Bracket is arranged in a mutually vertical manner with chassis.
9. according to the described in any item AGV with adaptive inclined-plane function of claim 2,6 or 7, it is characterised in that: the control
Molding block is electrically connected with the driving device, and the driving direction of the driving device is parallel with the line direction of two lifting mechanisms to be set
It sets.
10. the AGV according to claim 3 with adaptive inclined-plane function, it is characterised in that: the cylinder body of the push rod with
The mounting bracket is hinged, and the telescopic rod and mounting plate of push rod are hinged；
Alternatively, the cylinder body of push rod and the mounting plate are hinged, the telescopic rod and mounting bracket of push rod are hinged；
The push rod is air-leg or hydraulic push rod or electric pushrod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500997.7U CN209159845U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with adaptive inclined-plane function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821500997.7U CN209159845U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with adaptive inclined-plane function |
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| Publication Number | Publication Date |
|---|---|
| CN209159845U true CN209159845U (en) | 2019-07-26 |
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ID=67331146
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821500997.7U Active CN209159845U (en) | 2018-09-13 | 2018-09-13 | A kind of AGV with adaptive inclined-plane function |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016773A (en) * | 2019-11-29 | 2020-04-17 | 上海电机学院 | Novel freight transportation and balance device and control system thereof |
| CN111409738A (en) * | 2020-04-08 | 2020-07-14 | 广东博智林机器人有限公司 | Guide vehicle |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112744301A (en) * | 2021-01-11 | 2021-05-04 | 上海三一重机股份有限公司 | Auxiliary system for slope operation of working machine and working machine |
| CN116039315A (en) * | 2023-04-03 | 2023-05-02 | 广东正合智能设备有限公司 | AGV dolly with turn to and hang regulatory function |
-
2018
- 2018-09-13 CN CN201821500997.7U patent/CN209159845U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111016773A (en) * | 2019-11-29 | 2020-04-17 | 上海电机学院 | Novel freight transportation and balance device and control system thereof |
| CN111409738A (en) * | 2020-04-08 | 2020-07-14 | 广东博智林机器人有限公司 | Guide vehicle |
| CN111409738B (en) * | 2020-04-08 | 2021-05-11 | 广东博智林机器人有限公司 | Guide vehicle |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112441160B (en) * | 2020-11-06 | 2022-02-22 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112744301A (en) * | 2021-01-11 | 2021-05-04 | 上海三一重机股份有限公司 | Auxiliary system for slope operation of working machine and working machine |
| CN116039315A (en) * | 2023-04-03 | 2023-05-02 | 广东正合智能设备有限公司 | AGV dolly with turn to and hang regulatory function |
| CN116039315B (en) * | 2023-04-03 | 2023-05-26 | 广东正合智能设备有限公司 | AGV dolly with turn to and hang regulatory function |
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