CN209988029U - 360-degree omni-directional high-load automatic guided transport vehicle - Google Patents
360-degree omni-directional high-load automatic guided transport vehicle Download PDFInfo
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- CN209988029U CN209988029U CN201920466390.XU CN201920466390U CN209988029U CN 209988029 U CN209988029 U CN 209988029U CN 201920466390 U CN201920466390 U CN 201920466390U CN 209988029 U CN209988029 U CN 209988029U
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Abstract
The utility model discloses an automatic guided transporting vehicle of 360 degree qxcomm technology high load, it is the current unable problem of designing into qxcomm technology AGV that to solve. This product includes the shell, electric module, actuating mechanism, elevating system and human-computer interaction part, and actuating mechanism includes the drive wheel, driving motor and linkage, and a plurality of drive wheels are installed in the shell both sides, and driving motor's output links to each other with a plurality of drive wheels respectively, and linkage installs in driving motor one side and the navigation module is installed to one side that linkage is relative, still installs synchronous operation device on linkage's the rotation axis and adopts the buffering part fixed. The product is reasonable in design, is a heavy-load omnidirectional AGV, is small in width and large in bearing weight, can drive in all directions, and can bear the weight of 1.5 tons at most; the product can improve the production efficiency of the production and manufacturing industry, reduce the enterprise cost and has wide use prospect.
Description
Technical Field
The utility model relates to a AGV (automatic guided transporting vehicle) field specifically is an automatic guided transporting vehicle of 360 degrees qxcomm technology high loads.
Background
At present, the AGV is widely applied to the fields of manufacturing industry, logistics industry and the like. Towed AGV indicates that the AGV automobile body only bears the dead weight load, drags the material skip through couple, bolt mechanism simultaneously and realizes the skip transportation, and this type of AGV car is used to fields such as assembly, commodity circulation more.
The AGV sometimes needs to work in an environment with a narrow channel and a small space, and meanwhile, the steering system has omnidirectional capacity and cannot only go forward or backward simply, so that the omnidirectional steering system is generated under the increasing demand. The double-steering wheel structure is suitable for working in places with narrow space, is flexible to operate, can move in any direction of a plane under a dense working environment, can greatly improve the working efficiency and reduce the cost. The biggest advantage of AGV is unmanned, as long as input instruction, it can reach the material loading point along the route of regulation, then the automatic load goods walking, reach the material unloading point after, put down the goods, return the appointed place, the circulation is reciprocal, for traditional material conveying conveyer belt or fixed transportation track cost cheaper, intelligent level is high, very big manpower and financial resources have been saved, and can set up a minimum electric quantity for AGV, when reaching this value, AGV can reach the battery that charges for self carrying to the automatic place of charging that arrives automatically. The noise that AGV produced relative traditional transport vechicle is minimum to can not produce and produce waste gas, can accomplish zero pollution, consequently present AGV uses extensively.
However, the existing small AGVs, especially the narrow magnetic stripe AGVs, are basically designed as differential AGVs, so that they only have straight line and turning functions. Mainly because when AGV adopted the drive steering wheel, often can take place to interfere with the lower crosspiece on chassis during the gyration of drive steering wheel to influence the installation of drive steering wheel, that is to say the chassis is because of lacking sufficient installation and the unable double rudder train of installing in gyration space. If the interference between the lower transverse bar and the driving steering wheel during rotation is avoided, the driving steering wheel can be arranged below the chassis, but the method can reduce the height of the vehicle body and cannot ensure the heavy-load traction of the AGV. Therefore, in the prior art, the AGV cannot realize functions of transverse movement, in-situ rotation and the like, cannot be designed into an omnidirectional AGV, and greatly restricts the application of the AGV.
Disclosure of Invention
An object of the embodiment of the utility model is to provide an automatic guided transporting vehicle of 360 degrees qxcomm technology high loads to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a360-degree omnidirectional high-load automatic guided transport vehicle comprises a shell, an electrical module, a driving mechanism, a lifting mechanism and a human-computer interaction part, wherein the human-computer interaction part is arranged on the outer side of the shell, the electrical module, the driving mechanism and the lifting mechanism are all arranged in the shell, an auxiliary wheel and a charging module for bearing are further arranged at the bottom of the shell, the driving mechanism comprises driving wheels, a driving motor and a suspension device, the driving wheels are arranged on two sides of the shell, the output end of the driving motor is respectively connected with the driving wheels, the suspension device is arranged on one side of the driving motor, a navigation module is arranged on the opposite side of the suspension device, a synchronous operation device is further arranged on a rotating shaft of the suspension device and fixed by adopting a buffer part, the driving motor drives the driving wheels to walk on the ground, and a, the quick-wear points are reduced, the service life of the driving mechanism is prolonged, the driving mechanism is convenient to maintain and replace, a plurality of driving wheels in the product are driven by one driving motor, and therefore synchronization control of a synchronous operation device is needed, the AGV can run more stably, and control and data feedback of translation, oblique movement, 360-degree in-situ rotation and other various walks of the AGV can be realized.
As a further scheme of the embodiment of the utility model: the lifting mechanism comprises a base, an electric cylinder, a lifting pin and a limit switch, the base is fixed in the shell, the electric cylinder and the lifting pin are both fixed in the base, the lifting pin comprises an upper lifting pin and a lower lifting pin, the upper lifting pin and the lower lifting pin are connected through a sleeve, the lifting pin is connected with the electric cylinder through a connecting rod mechanism, the limit switch is positioned on one side of the lifting pin, the limit switch and the electric cylinder are arranged oppositely, and when the AGV moves to a specified position, the electric cylinder operates, and the lifting pin rises; the lifting pin is divided into an upper part and a lower part, is convenient to maintain and replace and is driven by the connecting rod mechanism; the two limit switches are divided into an upper limit switch and a lower limit switch and are used for limiting the movement limit positions of the lifting pin and preventing the lifting pin from being too high or too low; the sleeve is arranged at the middle connection part of the lifting pin, so that the vertical movement of the lifting pin is ensured, the lifting mechanism is suitable for lifting, lifting and walking of different material racks, and high-strength lifting is realized in a limited high range.
As a further scheme of the embodiment of the utility model: and the driving mechanism is also provided with a limiting mechanism matched with the driving wheel for use, and when the driving wheel rotates by more than 180 degrees, the driving wheel touches the limiting mechanism and stops moving.
As a further scheme of the embodiment of the utility model: synchronous operation device includes the hold-in range, the hold-in range action wheel, the hold-in range is from driving wheel and encoder, the hold-in range action wheel is installed on linkage's rotation axis through hold-in range and hold-in range, the encoder is installed on the hold-in range from the upper portion of driving wheel, when the drive wheel differential is rotatory, linkage's rotation axis begins to rotate, and bring the drive encoder through the synchronization and rotate together, the encoder obtains rotatory data, give the electric module of AGV, make things convenient for the current driven operation of AGV real time control.
As a further scheme of the embodiment of the utility model: obstacle avoidance sensors are further mounted around the shell and are electrically connected with the human-computer interaction part, and obstacles can be effectively avoided.
Compared with the prior art, the utility model discloses the beneficial effect of embodiment is:
the product is reasonable in design, is a heavy-load omnidirectional AGV, is small in width and large in bearing weight, can drive in all directions, and can bear the weight of 1.5 tons at most;
this product can convenient and fast connect the material car, need not artificial intervention, and automatic traction and release material car, staff need not to carry heavy material, save the cost of labor, improve the production efficiency of manufacturing industry, reduce cost of enterprises, use prospect is wide.
Drawings
Fig. 1 is a schematic structural view of a 360-degree omni-directional high-load automated guided vehicle.
Fig. 2 is a schematic structural diagram of a driving mechanism in a 360-degree omni-directional high-load automated guided vehicle.
Fig. 3 is a schematic structural diagram of a lifting mechanism in a 360-degree omni-directional high-load automated guided vehicle.
Wherein: 1-obstacle avoidance sensor, 2-man-machine interaction part, 3-lifting mechanism, 4-shell, 5-driving wheel, 6-driving motor, 7-suspension device, 8-buffer part, 9-navigation module, 10-synchronous belt driving wheel, 11-encoder, 12-synchronous belt driven wheel, 13-limit switch, 14-lifting pin, 15-sleeve, 16-electric cylinder and 17-base.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Example 1
A360-degree omnidirectional high-load automatic guided transport vehicle comprises a shell 4, an electrical module, a driving mechanism, a lifting mechanism 3 and a human-computer interaction part 2, wherein the human-computer interaction part 2 is installed on the outer side of the shell 4, the electrical module, the driving mechanism and the lifting mechanism 3 are all installed in the shell 4, an auxiliary wheel for bearing and a charging module are further installed at the bottom of the shell 4, the driving mechanism comprises driving wheels 5, driving motors 6 and a suspension device 7, the driving wheels 5 are installed on two sides of the shell 4, the output ends of the driving motors 6 are respectively connected with the driving wheels 5, the suspension device 7 is installed on one side of the driving motors 6, a navigation module 9 is installed on the opposite side of the suspension device 7, a synchronous operation device is further installed on a rotating shaft of the suspension device 7 and fixed by a buffer part 8, the driving motors 6 drive the driving, the mechanism of traditional chain sprocket has been cancelled on original basis, reduce easy damage point, increased actuating mechanism's life, be convenient for maintain and change, a plurality of drive wheels 5 are driven by a driving motor 6 in this product, so need have the synchronism control of synchronous operation device, more stable when making AGV dolly operation like this, also can realize the translation of AGV dolly, the slant removes, the control and the data feedback of various walks such as 360 degrees original place rotations.
Example 2
A360-degree omnidirectional high-load automatic guided transport vehicle comprises a shell 4, an electrical module, a driving mechanism, a lifting mechanism 3 and a human-computer interaction part 2, wherein the human-computer interaction part 2 is installed on the outer side of the shell 4, the electrical module, the driving mechanism and the lifting mechanism 3 are all installed in the shell 4, an auxiliary wheel for bearing and a charging module are further installed at the bottom of the shell 4, the driving mechanism comprises driving wheels 5, driving motors 6 and a suspension device 7, the driving wheels 5 are installed on two sides of the shell 4, the output ends of the driving motors 6 are respectively connected with the driving wheels 5, the suspension device 7 is installed on one side of the driving motors 6, a navigation module 9 is installed on the opposite side of the suspension device 7, a synchronous operation device is further installed on a rotating shaft of the suspension device 7 and fixed by a buffer part 8, the driving motors 6 drive the driving, the mechanism of traditional chain sprocket has been cancelled on original basis, reduce easy damage point, increased actuating mechanism's life, be convenient for maintain and change, a plurality of drive wheels 5 are driven by a driving motor 6 in this product, so need have the synchronism control of synchronous operation device, more stable when making AGV dolly operation like this, also can realize the translation of AGV dolly, the slant removes, the control and the data feedback of various walks such as 360 degrees original place rotations.
In addition, in order to realize high-strength lifting in a limited height range, the lifting mechanism 3 comprises a base 17, an electric cylinder 16, a lifting pin 14 and a limit switch 15, the base 17 is fixed in the shell 4, the electric cylinder 16 and the lifting pin 14 are both fixed in the base 17, the lifting pin 14 comprises an upper lifting pin and a lower lifting pin, the upper lifting pin and the lower lifting pin are connected through a sleeve 15, the lifting pin 14 is connected with the electric cylinder 16 through a link mechanism, the limit switch 15 is positioned at one side of the lifting pin 14, the limit switch 15 is arranged opposite to the electric cylinder 16, when the AGV moves to a specified position, the electric cylinder 16 operates, and the lifting pin 14 ascends; the lifting pin 14 is divided into an upper part and a lower part, so that the maintenance and the replacement are convenient, and the lifting pin is driven by a connecting rod mechanism and is convenient to drive; the two limit switches 13 are divided into an upper limit switch and a lower limit switch and are used for limiting the limit position of the movement of the lifting pin 14 and preventing the lifting pin 14 from being too high or too low; the sleeve 15 is arranged at the middle connection part of the lifting pin 14 to ensure the vertical movement of the lifting pin 14, and the lifting mechanism is suitable for lifting, lifting and walking of different material racks.
In addition, in order to limit the movement of the driving wheel 5, a limit mechanism matched with the driving wheel 5 is further installed on the driving mechanism, when the driving wheel 5 rotates for more than 180 degrees, the driving wheel 5 touches the limit mechanism, and the driving wheel 5 stops moving.
Example 3
A360-degree omnidirectional high-load automatic guided transport vehicle comprises a shell 4, an electrical module, a driving mechanism, a lifting mechanism 3 and a human-computer interaction part 2, wherein the human-computer interaction part 2 is installed on the outer side of the shell 4, the electrical module, the driving mechanism and the lifting mechanism 3 are all installed in the shell 4, the electrical module is intensively installed on an electrical plate, the electrical parts of the electrical module are clearly arranged, the wiring is convenient, and the problem is convenient to find, an auxiliary wheel and a charging module for bearing are further installed at the bottom of the shell 4, the driving mechanism comprises a driving wheel 5, a driving motor 6 and a suspension device 7, the driving wheel 5 are installed on two sides of the shell 4, the output end of the driving motor 6 is respectively connected with the driving wheel 5, the suspension device 7 is installed on one side of the driving motor 6, a navigation module 9 is installed on the opposite side of the suspension device 7, a synchronous operation device is further installed on the rotating, have the shock attenuation effect, driving motor 6 drives drive wheel 5, walk subaerial, the mechanism of traditional chain sprocket has been cancelled on original basis, reduce the vulnerable point, the life of actuating mechanism has been increased, be convenient for maintenance and change, a plurality of drive wheels 5 are driven by a driving motor 6 in this product, so need have the synchronism control of synchronous operation device, it is more stable when making AGV dolly move like this, also can realize the translation of AGV dolly, the slant removes, the control and the data feedback of various walks such as 360 degrees original place rotations.
In addition, in order to guarantee AGV's motion synchronism, the synchronous operation device includes the hold-in range, hold-in range driving wheel 10, the hold-in range is from driving wheel 12 and encoder 11, hold-in range driving wheel 10 is installed on linkage 7's rotation axis, hold-in range driving wheel 10 links to each other with hold-in range driven wheel 12 through the hold-in range, encoder 11 is installed on the hold-in range from the upper portion of driving wheel 12, in 5 differential rotations of drive wheel, linkage 7's rotation axis begins to rotate, and it is rotatory together to drive encoder 11 through synchronous belt, encoder 11 obtains rotatory data, transmit the electric module for AGV, make things convenient for AGV.
In order to effectively avoid the obstacle, obstacle avoidance sensors 1 are further mounted around the shell 4, the obstacle avoidance sensors 1 are electrically connected with the human-computer interaction part 2, and the fan-shaped obstacle scanning area of the obstacle avoidance sensors greatly improves the obstacle avoidance capability of the AGV.
The embodiment of the utility model provides a theory of operation is: the working process of the product is as follows: the AGV receives the order of host computer, goes to the material loading point, reachs the assigned position, and the shell hides the bottom of skip, through elevating system 3 and skip butt joint, is drawn along the route walking by navigation module 9, reachs the unloading point, and elevating system 3 falls, and shell 4 continues to move ahead. A plurality of AGV independently work on the navigation line network, and information and safety device constitute a networking system, and degree of automation is high, safe and reliable, practices thrift manpower and materials, and cooperation automatic unloading equipment can realize the automation of the continuous logistics of multiple spot.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. An automatic guided transport vehicle with 360-degree omnidirectional high load comprises a shell (4), an electric module, a driving mechanism, a lifting mechanism (3) and a man-machine interaction part (2), the human-computer interaction part (2) is arranged on the outer side of the shell (4), the electric module, the driving mechanism and the lifting mechanism (3) are all arranged in the shell (4), the bottom of the shell (4) is also provided with an auxiliary wheel and a charging module, the automatic control device is characterized in that the driving mechanism comprises driving wheels (5), driving motors (6) and a suspension device (7), the driving wheels (5) are installed on two sides of the shell, the output ends of the driving motors (6) are respectively connected with the driving wheels (5), the suspension device (7) is installed on one side of the driving motors (6) and one side, opposite to the suspension device (7), of the suspension device (7) is provided with a navigation module (9), and a synchronous operation device is further installed on a rotating shaft of the suspension device (7) and fixed through a buffering component (8).
2. The 360-degree omni-directional high-load automatic guided vehicle according to claim 1, wherein the lifting mechanism (3) comprises a base (17), an electric cylinder (16), a lifting pin (14) and a limit switch (13), the base (17) is fixed in the housing (4), the electric cylinder (16) and the lifting pin (14) are both fixed in the base (17), the lifting pin (14) comprises an upper lifting pin and a lower lifting pin, the upper lifting pin and the lower lifting pin are connected through a sleeve (15), the lifting pin (14) is connected with the electric cylinder (16) through a link mechanism, the limit switch (13) is positioned on one side of the lifting pin (14), and the limit switch (13) is arranged opposite to the electric cylinder (16).
3. A 360 degree omni-directional high load automated guided vehicle according to claim 1, wherein the driving mechanism is further mounted with a limit mechanism cooperating with the driving wheel (5).
4. The 360-degree omni-directional high-load automatic guided vehicle according to claim 1 or 3, wherein the synchronous running device comprises a synchronous belt, a synchronous belt driving wheel (10), a synchronous belt driven wheel (12) and an encoder (11), the synchronous belt driving wheel (10) is installed on a rotating shaft of the suspension device (7), the synchronous belt driving wheel (10) is connected with the synchronous belt driven wheel (12) through the synchronous belt, and the encoder (11) is installed on the upper portion of the synchronous belt driven wheel (12).
5. The 360-degree omni-directional high-load automatic guided vehicle according to claim 1, wherein obstacle avoidance sensors (1) are further mounted around the housing (4), and the obstacle avoidance sensors (1) are electrically connected with the human-computer interaction component (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920466390.XU CN209988029U (en) | 2019-04-08 | 2019-04-08 | 360-degree omni-directional high-load automatic guided transport vehicle |
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| CN201920466390.XU CN209988029U (en) | 2019-04-08 | 2019-04-08 | 360-degree omni-directional high-load automatic guided transport vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776917A (en) * | 2021-02-08 | 2021-05-11 | 深圳优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN112896364A (en) * | 2021-02-08 | 2021-06-04 | 西安优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN114715309A (en) * | 2022-05-07 | 2022-07-08 | 常州工学院 | Heavy load AGV differential drive module that area hung |
-
2019
- 2019-04-08 CN CN201920466390.XU patent/CN209988029U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776917A (en) * | 2021-02-08 | 2021-05-11 | 深圳优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN112896364A (en) * | 2021-02-08 | 2021-06-04 | 西安优艾智合机器人科技有限公司 | Driving device for automatic guided vehicle, automatic guided vehicle and robot |
| CN114715309A (en) * | 2022-05-07 | 2022-07-08 | 常州工学院 | Heavy load AGV differential drive module that area hung |
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