CN210954738U

CN210954738U - AGV vehicle

Info

Publication number: CN210954738U
Application number: CN201922385920.0U
Authority: CN
Inventors: 翟大庆; 何志刚; 杨绍润; 莫泉湖; 李思俊; 石磊
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-07-07
Anticipated expiration: 2029-12-26

Abstract

The utility model relates to a AGV vehicle, which comprises a carriage body, the automobile body is provided with walking wheel, power portion and controller, and power portion links to each other with walking wheel and controller respectively, and power portion is used for the driven wheel rotation under the control of controller, and the automobile body is provided with the promotion portion that is used for propelling the shaft, and the automobile body still is provided with the first detection portion that is used for detecting automobile body advancing speed and/or detects along the automobile body advancing direction whether have the second detection portion of barrier, first detection portion and second detection portion link to each other with the controller respectively, and the controller is used for when the advancing speed of automobile body reaches the speed of setting for the braking force portion slows down or parks, and is used for when detecting that there is the barrier along the automobile body advancing direction for the braking force portion slows down or parks; this AGV vehicle adopts the mode of throwing to send for being provided power and realizing the transportation of equipment by haulage equipment, and not only simple structure, handling efficiency is high moreover, is particularly useful for the equipment of haulage wheel pair and be provided with the wheel pair.

Description

AGV vehicle

Technical Field

The utility model relates to a in track traffic technical field, concretely relates to AGV vehicle for track traffic equipment.

Background

An AGV is a short for an automatic Guided Vehicle (Automated Guided Vehicle), and generally refers to a transport Vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and also a transport Vehicle that does not require a driver in industrial applications; in the actual operation process of the AGV, the controller (such as a computer host, a single chip, a vehicle host, etc.) is usually used to control the traveling route and behavior thereof, or the electromagnetic rail is usually adhered to the ground to set the traveling route, and the AGV moves and moves, such as forward, backward, and turn, etc., according to the information brought by the electromagnetic rail.

With the advance of technology, AGV vehicles have also found wide application in the field of rail transportation, and are generally used to automatically transport or transport rail transportation equipment, such as bogies, wheel pairs, etc.; however, in the AGV in the prior art, or the rail transit equipment is transported by a transportation method, such a method is only suitable for transporting the equipment with light weight, and has a high requirement for bearing of the AGV, and in addition, when the equipment is transferred to the AGV and is moved away from the AGV, there are problems of complicated operation, long consumed time, low efficiency, and the like, and it is inconvenient to transport the equipment with large weight, such as wheel sets and bogies; or the rail transit equipment is transported by adopting a mode of synchronously moving and synchronously stopping the transported equipment, when the mode is adopted, the AGV vehicle needs to be connected with the transported equipment into a whole before the AGV vehicle starts to move so as to synchronously move with the transported equipment, and before the purpose is achieved, the transported equipment needs to be stopped by braking, so that the transportation process is long in time consumption and low in efficiency, and the structure of the AGV vehicle is complex, so that the AGV vehicle is not suitable for transferring wheel pairs or equipment (such as a bogie and the like) provided with the wheel pairs at a production site, an assembly site and a maintenance site.

SUMMERY OF THE UTILITY MODEL

For improving the not enough that exists among the prior art, the utility model provides a AGV vehicle adopts the mode of throwing to send for being provided with power and realizing the transportation of equipment by haulage equipment, simple structure not only, and handling efficiency is high moreover, is particularly useful for the haulage wheel to and is provided with the equipment of wheel pair.

The utility model adopts the technical proposal that:

the utility model provides a AGV vehicle, includes the automobile body, the automobile body is provided with walking wheel, power portion and controller, power portion respectively with walking wheel and controller link to each other, and power portion is used for the driven wheel rotation under the control of controller, a serial communication port, the automobile body is provided with the promotion portion that is used for propelling movement shaft, and the automobile body still is provided with the first detection portion that is used for detecting automobile body velocity of travel and/or detects along the automobile body direction of travel the second detection portion that whether has the barrier, first detection portion and second detection portion respectively with the controller links to each other, and the controller is used for when the velocity of travel of automobile body reaches the speed that sets for braking force portion slows down or parks, and is used for when detecting that there is the barrier along automobile body direction of travel the speed control braking force portion slows down or parks. The AGV vehicle is used for transporting transported equipment placed on a track, such as wheel sets or equipment provided with the wheel sets, such as a bogie and the like, a pushing part arranged on a vehicle body is used for contacting the transported equipment under the driving of the vehicle body, a power part is started under the control of a controller and gradually accelerates, and in the process, the pushing part is used for synchronously pushing the transported equipment to move along the track; in the process of vehicle body acceleration, if the second detection part detects that a front obstacle exists, a sensing signal is generated and transmitted to the controller, and the controller immediately controls the power part to decelerate or stop after receiving the sensing signal, so that the carried equipment and the pushing part can be automatically separated, the carried equipment can be thrown, and the separated carried equipment can continuously run along a track; in the process of vehicle body acceleration, the first detection part can detect the real-time vehicle speed of the vehicle body and transmit the vehicle speed to the controller, when the vehicle speed is greater than or equal to the set speed, the controller immediately controls the power part to decelerate or stop, so that the carried equipment and the pushing part can be automatically separated, the carried equipment can be thrown, and the separated carried equipment can continuously run along a track; the AGV vehicle that this scheme of utilization provided, simple structure can promote the wheel pair and be provided with the equipment of wheel pair along the track, not only need not bear the weight of by hauled equipment, does not need the AGV vehicle in whole handling process and by hauled equipment synchronization moreover, has both been favorable to simplifying the handling process, can effectively improve handling efficiency again, is particularly useful for the transport to set up in orbital wheel pair and be provided with the equipment of wheel pair.

Preferably, the first detection part is an encoder, the power part comprises a driving motor, and the encoder is arranged on the driving motor, connected with the controller and used for detecting the rotating speed of the driving motor. The controller can conveniently calculate the advancing speed of the vehicle body by detecting the rotating speed of the driving motor.

Preferably, the second detection unit is a reflective laser sensor.

In order to facilitate detection of an obstacle, it is preferable that the second detection unit is provided at an end portion of the vehicle body. Therefore, whether obstacles exist in the front of the advancing vehicle body can be detected more conveniently and effectively, and particularly whether transported equipment exists on a track in front is detected.

Preferably, the pushing part is provided at an upper part of the vehicle body and/or at a side surface of the vehicle body. So as to meet the requirements of different occasions.

Optionally, the pushing part is of a plate-shaped, rod-shaped or columnar structure. It is only necessary to protrude the vehicle body so as to abut against one side of the carried apparatus, such as one side of the wheel centering shaft, so as to push the carried apparatus to move by the power of the vehicle body.

According to a further scheme, the lifting device is further included, the pushing portion is arranged on the lifting device, the lifting device is connected with the controller, the lifting device is used for driving the pushing portion to ascend and descend under the control of the controller, and the pushing portion is used for contacting with the carried equipment. In the scheme, the lifting device is arranged, so that the distance of the pushing part protruding out of the car body can be effectively controlled, on one hand, the pushing part can be accommodated in the car body, and an AGV can conveniently and freely pass through the lower part of the transported equipment when running between the two tracks; on the other hand, the arrangement of the pushing portion with the lifting/lowering function is beneficial to the compactness of the structure of the car body, and in addition, the AGV car can be used for pushing wheel sets of different models, so that the universality is better.

Preferably, the lifting device is arranged in a shell of the vehicle body, and an opening is arranged at a position on the shell corresponding to the pushing part and used for the pushing part to pass through. The pushing part extends out of the shell through the opening under the driving of the lifting device, so that the carried equipment is pushed, and the pushing part is convenient to be accommodated in the shell through the opening; in addition, the opening can play the supporting role to the pushing part when the pushing part is transversely stressed, and the pushing part is prevented from inclining or failing under the extrusion of the carried equipment.

The utility model provides a scheme, elevating gear includes the power supply, the power supply is cylinder or pneumatic cylinder, the cylinder includes the cylinder body and sets up in the push rod of cylinder body, and the cylinder body is fixed in the automobile body or sets up in the frame of automobile body, the one end of push rod is provided with the elevator, the promotion portion is fixed in the elevator, the cylinder body links to each other with the controller, and the push rod stretches out and draws back under the control of controller. Thereby achieving the ascending/descending of the pushing part.

Another kind of scheme, elevating gear includes power supply and elevating system, the power supply is the motor, elevating system includes screw rod, elevator and stabilizer bar, the screw rod is parallel with the stabilizer bar, and the both ends of screw rod and stabilizer bar are vertical respectively to be fixed in automobile body or frame, the screw rod is provided with the external screw thread, the elevator is provided with through-hole and screw hole, the screw hole be provided with the internal thread of external screw thread looks adaptation, the elevator passes through the screw hole cover is located the screw rod, and passes through the stabilizer bar is located to the through-hole cover, the one end of promotion portion is fixed in the elevator, the motor is used for driving screw to rotate. In this scheme, screw rod and elevator can constitute screw drive mechanism to make the elevator move along the screw rod under the drive of motor, thereby realize the extension/contraction of stabilizing member, and through setting up the stabilizer bar, can effectively increase the elevator along the stability of screw rod removal in-process.

The lifting/descending of the pushing part is precisely controlled, and in a further scheme, the lifting/descending device further comprises a limiting sensor, wherein the limiting sensor is fixed on the vehicle body or the rack, is connected with the controller, and is used for generating a sensing signal and transmitting the sensing signal to the controller when the lifting block acts in place. So that the push part is precisely controlled to ascend/descend by the controller.

Preferably, the lifting device comprises two limit sensors, the two limit sensors are respectively fixed on the frame and respectively connected with the controller, and the two limit sensors are respectively used for generating sensing signals when the lifting block rises to a set position and falls to the set position and transmitting the sensing signals to the controller. Through setting up spacing sensor, can utilize the ascending and position that descends of accurate control promotion portion of controller to accurate control promotion portion moves, moreover, through the position of adjusting two spacing sensors, can effectively adjust the distance that rises of promotion portion, thereby the outstanding automobile body of effective control promotion portion apart from.

Preferably, the limit sensor may be a correlation photoelectric sensor, a photoelectric switch, or the like.

In order to arrange a power source, the lifting device further comprises a transmission mechanism, and the transmission mechanism is respectively connected with the power source and the lifting mechanism and used for transmission. The position of the power source can be reasonably arranged by arranging the transmission mechanism, so that the structure of the whole vehicle body is more compact.

Preferably, the transmission mechanism is one or more of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm wheel-worm transmission mechanism or a gear-rack transmission mechanism.

Compared with the prior art, use the utility model provides a pair of AGV vehicle has following beneficial effect:

1. this AGV vehicle adopts the mode of throwing to send for being provided power and realizing the transportation of equipment by haulage equipment, and not only simple structure, handling efficiency is high moreover, is particularly useful for the equipment of haulage wheel pair and be provided with the wheel pair.

2. According to the AGV vehicle, the lifting mechanism is arranged, so that the distance of the pushing part protruding out of the vehicle body can be effectively controlled, on one hand, the pushing part can be accommodated in the vehicle body, and the AGV vehicle can conveniently and freely pass through the lower part of the transported equipment when running between the two tracks; on the other hand, the pushing part with the lifting/descending function is arranged, so that the structure of the vehicle body is more compact.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an AGV vehicle according to embodiment 1.

Fig. 2 is a schematic diagram of an AGV vehicle pushing wheel pair provided in this embodiment 1.

Fig. 3 is a schematic structural diagram of an AGV vehicle according to embodiment 2.

Fig. 4 is a partially enlarged schematic view I of fig. 3.

Fig. 5 is a partial cross-sectional view of an AGV vehicle according to embodiment 2.

Fig. 6 is a schematic structural diagram of an elevator in the AGV vehicle according to embodiment 2.

Fig. 7 is a second schematic structural diagram of an elevator apparatus in the AGV vehicle according to this embodiment 2.

Fig. 8 is a partial sectional view of the lifting device shown in fig. 6 after being installed in a vehicle body.

Description of the drawings

Wheel pair 100, wheel axle 101, wheel 102, rail 104, electromagnetic rail 105,

Vehicle body 200, housing 201, opening 202,

A push portion 301, a buffer layer 302,

Cylinder 401, push rod 402, lifting block 403, frame 404, screw 405, stabilizer bar 406, pulley 407, motor 408, limit strip 409, limit sensor 410, drive belt 411.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 and 2, in the present embodiment, an AGV vehicle is provided, which includes a vehicle body 200, where the vehicle body 200 is provided with a road wheel, a power part and a controller, the power part is connected to the road wheel and electrically connected to the controller, and the power part is used to drive the road wheel to rotate under the control of the controller, so as to drive the vehicle body 200 to move;

automobile body 200 can adopt the automobile body 200 of current AGV vehicle, automobile body 200 generally includes frame and casing 201, casing 201 sets up in the upper portion of frame, as shown in the figure to the realization is to the closure or semi-closed of frame, and power portion and controller set up respectively in the inside of casing 201, and the walking wheel sets up in the bottom of frame for contact ground, and it is no longer repeated here.

In this embodiment, the power portion may be a power portion commonly used in an existing AGV vehicle, for example, in this embodiment, the power portion includes a driving motor, a power transmission mechanism, a steering mechanism for steering the vehicle body 200, and the like, which are not illustrated herein.

In this embodiment, the vehicle body 200 is further provided with a battery pack, and the battery pack is connected with the power part and used for supplying power.

Since the AGV vehicle without manual control is provided in this embodiment, the vehicle body 200 is further provided with a guiding device for the existing AGV vehicle, the guiding device is connected to a controller, and the controller controls the vehicle body 200 to travel along a set route through the guiding device; for example, in this embodiment, the guiding device may preferentially adopt an RFID sensor, an electromagnetic track 105 is disposed on the set traveling route, the electromagnetic track 105 is parallel to a track 104 on which the transported equipment runs, and may be disposed outside the track 104 or between the two tracks 104, and the controller controls the vehicle body 200 to run along the electromagnetic track 105 through a message brought by the electromagnetic track 105 induced by the RFID sensor, such as forward, backward, and turn, which are the prior art, and are not described herein again.

Whereas in the prior art, the wheel pair 100 is generally composed of an axle 101 and wheels 102 disposed at both ends of the axle 101, as shown in fig. 1 and 2, the two wheels 102 are respectively adapted to a rail 104 so as to run along the rail 104; the bogie is composed of two wheel pairs 100, and the description is omitted.

As shown in fig. 1 and 2, in the present embodiment, the vehicle body 200 is further provided with a pushing portion 301 for pushing the wheel axle 101, and the vehicle body 200 is further provided with a first detecting portion for detecting a traveling speed of the vehicle body 200 and/or a second detecting portion for detecting whether there is an obstacle in the traveling direction of the vehicle body 200, the first detecting portion and the second detecting portion are respectively connected to the controller for decelerating or stopping the vehicle when the traveling speed of the vehicle body 200 reaches a set speed and for decelerating or stopping the vehicle when there is an obstacle in the traveling direction of the vehicle body 200.

As an example, the vehicle body 200 is further provided with a pushing portion 301 for pushing the wheel axle 101, and a first detection portion for detecting the traveling speed of the vehicle body 200, and the transported device (such as the wheel pair 100, a bogie provided with the wheel pair 100, and the like, which will not be described in detail below) is placed on the track 104 and can run along the track 104; in the AGV vehicle, a pushing part 301 arranged on a vehicle body 200 is used for contacting a transported device under the driving of the vehicle body 200, a power part is started under the control of a controller and gradually accelerates, so that the transported device is driven to accelerate to achieve the purpose of transporting, in the accelerating process of the vehicle body 200, a first detection part can detect the real-time speed of the vehicle body 200 and transmit the real-time speed to the controller, and when the speed is greater than or equal to the set speed, the controller immediately controls the power part to decelerate or stop, so that the transported device and the pushing part 301 can be automatically separated; therefore, the AGV vehicle can push the wheel pair 100 and the equipment provided with the wheel pair 100 along the track 104, the weight of the carried equipment does not need to be borne, the AGV vehicle does not need to be synchronous with the carried equipment in the whole carrying process, the carrying process is simplified, the throwing function of the carried equipment is realized, and the carrying efficiency can be effectively improved.

For example, the second detecting portion may employ an existing distance obstacle sensor or a distance sensor, and in this embodiment, a reflective laser sensor is employed, and the reflective laser sensor is connected to the controller for detecting whether an obstacle is present in front of the vehicle body 200.

As another example, the vehicle body 200 is further provided with a pusher 301 for pushing the wheel axle 101, and a first detection portion for detecting the traveling speed of the vehicle body 200, and the vehicle body 200 is further provided with a second detection portion for detecting the presence/absence of an obstacle in the traveling direction of the vehicle body 200, in the present AGV vehicle, the pushing part 301 arranged on the vehicle body 200 is used for contacting the carried equipment under the driving of the vehicle body 200, the power part is started under the control of the controller and gradually accelerated, thereby driving the transported equipment to accelerate and achieving the purpose of transporting, and in the process of accelerating the vehicle body 200, if the second detection part detects that there is an obstacle in front (i.e. there are other transported devices on the front rail 104), it will generate a sensing signal and transmit it to the controller, and after receiving the sensing signal, immediately controlling the power part to decelerate or stop so that the carried equipment can be automatically separated from the pushing part 301;

the first detecting portion for detecting the speed has various embodiments, for example, the first detecting portion is an encoder, and the encoder is disposed on a driving motor of the power portion, connected to the controller, and configured to detect a rotation speed of the driving motor; by detecting the rotation speed of the driving motor, the controller can conveniently calculate the traveling speed of the vehicle body 200, and the calculation process is not described herein.

In order to facilitate the detection of an obstacle, especially an obstacle on the track 104, in a preferred embodiment, the second detection unit is disposed at an end of the vehicle body 200, so that it is possible to more conveniently and effectively detect whether an obstacle exists in front of the vehicle body 200, especially whether a device to be transported exists on the track 104 in front.

As another example, the vehicle body 200 is further provided with a pushing portion 301 for pushing the wheel axle 101, the vehicle body 200 is further provided with a first detecting portion for detecting a traveling speed of the vehicle body 200 and a second detecting portion for detecting whether an obstacle exists or not in a traveling direction of the vehicle body 200, the first detecting portion and the second detecting portion are respectively connected to the controller, and in a process that the AGV vehicle pushes the transported device, if the second detecting portion detects the obstacle first, the controller controls the power portion to decelerate and stop, otherwise, only when the traveling speed detected by the first detecting portion reaches a set speed, the controller controls the power portion to decelerate and stop, so that the whole transporting process is faster and more efficient.

It is understood that the position of the pushing portion 301 may be various, and preferably, the pushing portion 301 may be disposed at the upper portion of the vehicle body 200 and/or at the side of the vehicle body 200 to meet the requirements of different occasions, for example, as shown in fig. 1 and fig. 2, in the present embodiment, the pushing portion 301 is disposed at the middle position of the upper portion of the vehicle body 200.

In this embodiment, the pushing part 301 may have various embodiments, and only needs to protrude out of the vehicle body 200 to abut against one side of the transported equipment, such as one side of the wheel axle 101 in the wheel pair 100, so as to push the transported equipment to move by using the power of the vehicle body 200, preferably, the pushing part 301 may have a plate-shaped, rod-shaped or column-shaped structure, as shown in fig. 1 and 2 by way of example, in this embodiment, the pushing part 301 is a square rod, and for achieving buffering and shock absorption, a buffer layer 302 is disposed on the side surface of the pushing part 301, as shown in fig. 1 and 2, and the buffer layer 302 may be a rubber layer.

In a more sophisticated scheme, the controller may be a commonly used controller in an existing AGV vehicle, such as a single chip, a PLC or an ARM chip.

Example 2

In order to realize the ascending/descending function of the pushing part 301, the AGV vehicle provided by this embodiment further includes a lifting device and a pushing part 301, the pushing part 301 is disposed on the lifting device, the lifting device is connected to the controller, the lifting device is configured to drive the pushing part 301 to ascend/descend under the control of the controller, and the pushing part 301 is configured to contact the transported device. In the embodiment, the lifting device is arranged, so that the distance of the pushing part 301 protruding out of the vehicle body 200 can be effectively controlled, on one hand, the pushing part 301 can be accommodated in the vehicle body 200, and an AGV can conveniently and freely pass through the lower part of the transported equipment when running between the two rails 104; on the other hand, the lifting device having the lifting/lowering function is provided, which is advantageous for the vehicle body 200 to be more compact in structure.

As shown in fig. 3 and 4, in the present embodiment, the lifting device is disposed in a housing 201 of the vehicle body 200 and fixed to a frame of the vehicle body 200, the pushing portion 301 is disposed vertically, and an opening 202 is disposed on the housing 201 at a position corresponding to the pushing portion 301, where the opening 202 is used for the pushing portion 301 to pass through, so that the pushing portion 301 is driven by the lifting device to extend out of the housing 201 through the opening 202, thereby pushing the transported device, and also facilitating the pushing portion 301 to be received in the housing 201 through the opening 202; in addition, the opening 202 can support the pushing part 301 when the pushing part 301 is stressed transversely, and prevent the pushing part 301 from inclining or failing under the compression of the carried equipment.

Further, the lifting device comprises a power source, and the power source is a motor 408, a hydraulic cylinder or an air cylinder, etc.

As an embodiment, as shown in fig. 3-5, the power source is a cylinder (a hydraulic cylinder can also achieve the same effect), the cylinder includes a cylinder body 401 and a push rod 402 disposed on the cylinder body 401, the cylinder body 401 is fixed to the vehicle body 200 or disposed on a frame 404 of the vehicle body 200, one end of the push rod 402 is provided with a lifting block 403, and the push portions 301 are connected; the pushing part 301 is fixed to the lifting block 403, the cylinder 401 is connected to a controller, and the push rod 402 extends and contracts under the control of the controller, so that the pushing part 301 is lifted/lowered.

As another embodiment, as shown in fig. 3, 6, 7 and 8, the power source is a motor 408, the lifting device further comprises a lifting mechanism, the lifting mechanism comprises a screw 405, a lifting block 403 and a stabilizing rod 406, as shown in fig. 6 and 7, the screw 405 is parallel to the stabilizing rod 406, and both ends of the screw 405 and the stabilizer bar 406 are vertically fixed to the vehicle body 200 or the frame 404, respectively, the frame 404 is fixed to the vehicle body 200, the screw 405 is provided with external threads, the lifting block 403 is provided with a through hole and a threaded hole, the threaded hole is provided with an internal thread matched with the external thread, the lifting block 403 is sleeved on the screw 405 through the threaded hole, the stabilizer bar 406 is sleeved through the through hole, one end of the pushing portion 301 is fixed to the lifting block 403, and the motor 408 is connected to the screw 405 and used for driving the screw 405 to rotate. In this embodiment, the screw 405 and the lifting block 403 may form a screw transmission mechanism, so that the lifting block 403 moves along the screw 405 under the driving of the motor 408, thereby achieving the extension/contraction of the stabilizing member, and the stabilizing rod 406 may be provided to effectively increase the stability of the lifting block 403 during moving along the screw 405.

In order to precisely control the lifting/lowering of the pushing part 301, in a further aspect, the lifting/lowering device further comprises a limit sensor 410, wherein the limit sensor 410 is fixed to the vehicle body 200 or the frame 404 and is connected to the controller, and is used for generating a sensing signal when the lifting block 403 is in place and transmitting the sensing signal to the controller, so that the lifting/lowering of the pushing part 301 is precisely controlled by the controller. For example, in the present embodiment, two limit sensors 410 are included, as shown in fig. 6, 7 and 8, the two limit sensors 410 are respectively fixed to the frame 404 and respectively connected to the controller, and the two limit sensors 410 are respectively used for generating sensing signals when the lifting block 403 ascends to a set position and descends to a set position, and transmitting the sensing signals to the controller. By providing the limit sensors 410, the rising and falling positions of the push part 301 can be precisely controlled by the controller so that the push part 301 can be precisely controlled to move, and moreover, by adjusting the positions of the two limit sensors 410, the rising distance of the push part 301 can be effectively adjusted, thereby effectively controlling the distance by which the push part 301 protrudes from the vehicle body 200. As shown in fig. 6, 7 and 8, in order to arrange two limit sensors 410, the lifting block 403 is further provided with a limit strip 409, the limit strip 409 is horizontally arranged and acts synchronously with the lifting block 403, and the limit strip 409 is used for cooperating with the limit sensors 410 so as to trigger the limit sensors 410 to generate a sensing signal.

In a preferred embodiment, the limit sensor 410 may be a relative photoelectric sensor, a photoelectric switch, or the like.

To facilitate the arrangement of the motor 408, in a further aspect, the lifting device further includes a transmission mechanism, and the transmission mechanism is respectively connected to the motor 408 and the lifting mechanism for transmission. The position of the power source can be reasonably set by setting the transmission mechanism, so that the structure of the whole vehicle body 200 is more compact.

Preferably, the transmission mechanism may be one or more of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm and gear transmission mechanism or a gear and rack transmission mechanism. In the present embodiment, a belt transmission mechanism is used, which includes two pulleys 407 and a belt 411, the two pulleys 407 are respectively fixed to an output shaft of the motor 408 and the screw 405, as shown in fig. 6 and 8, and the belt 411 is tightened on the two pulleys 407 for transmission.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a AGV vehicle, includes the automobile body, the automobile body is provided with walking wheel, power portion and controller, power portion respectively with walking wheel and controller link to each other, and power portion is used for the driven wheel rotation under the control of controller, a serial communication port, the automobile body is provided with the promotion portion that is used for propelling movement shaft, and the automobile body still is provided with the first detection portion that is used for detecting automobile body velocity of travel and/or detects along the automobile body direction of travel the second detection portion that whether has the barrier, first detection portion and second detection portion respectively with the controller links to each other, and the controller is used for when the velocity of travel of automobile body reaches the speed that sets for braking force portion slows down or parks, and is used for when detecting that there is the barrier along automobile body direction of travel the speed control braking force portion slows down or parks.

2. The AGV vehicle of claim 1, wherein the pushing part is provided at an upper portion of the vehicle body and/or at a side of the vehicle body, and the pushing part has a plate-like, rod-like or column-like structure.

3. The AGV vehicle of claim 1, wherein the sides of the push portion are provided with bumpers.

4. The AGV vehicle of claim 1, wherein the first sensing portion is an encoder, and the power portion includes a drive motor, the encoder being disposed on the drive motor and connected to the controller for sensing a rotational speed of the drive motor; and/or the second detection part is a reflection type laser sensor, and/or the controller is a single chip microcomputer, a PLC or an ARM chip.

5. The AGV vehicle according to any one of claims 1 to 4, further comprising a lifting means, wherein said pushing portion is provided to said lifting means, said lifting means is connected to said controller, said lifting means is adapted to drive said pushing portion to ascend/descend under the control of said controller, and said pushing portion is adapted to contact the transported object.

6. The AGV vehicle according to claim 5, wherein said lifting means is provided in a housing of the vehicle body, and an opening for passing the pushing portion is provided in the housing at a position corresponding to said pushing portion.

7. The AGV vehicle according to claim 5, wherein the lifting device includes a power source, the power source is a cylinder or a hydraulic cylinder, the cylinder includes a cylinder body and a push rod arranged on the cylinder body, the cylinder body is fixed on the vehicle body or arranged on a frame of the vehicle body, a lifting block is arranged at one end of the push rod, the pushing portion is fixed on the lifting block, the cylinder body is connected with the controller, and the push rod extends/retracts under the control of the controller;

or, elevating gear includes power supply and elevating system, the power supply is the motor, elevating system includes screw rod, elevator and stabilizer bar, the screw rod is parallel with the stabilizer bar, and the both ends of screw rod and stabilizer bar are vertical respectively to be fixed in automobile body or frame, the screw rod is provided with the external screw thread, the elevator is provided with through-hole and screw hole, the screw hole be provided with the internal thread of external screw thread looks adaptation, the elevator passes through the screw hole cover is located the screw rod, and passes through the stabilizer bar is located to the through-hole cover, the one end of promotion portion is fixed in the elevator, the motor is used for driving screw to rotate.

8. The AGV vehicle of claim 7 further including a limit sensor secured to the body or frame and connected to the controller for generating a signal to the controller when the elevator block is in position.

9. The AGV vehicle of claim 8, including two limit sensors, each of the two limit sensors being fixed to the frame and connected to the controller, the two limit sensors being adapted to generate a sensing signal when the elevator block is raised to a predetermined position and lowered to a predetermined position, respectively, and to transmit the sensing signal to the controller.

10. The AGV vehicle of claim 7, further comprising a drive mechanism coupled to the power source and the lift mechanism for driving the drive mechanism; the transmission mechanism is one or a combination of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, a worm wheel-worm transmission mechanism or a gear-rack transmission mechanism.