CN214202155U

CN214202155U - Laser jacking AGV that hides

Info

Publication number: CN214202155U
Application number: CN202120268524.4U
Authority: CN
Inventors: 刘胜明
Original assignee: Suzhou Agv Robot Co ltd
Current assignee: Suzhou Agv Robot Co ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-09-14
Anticipated expiration: 2031-01-29

Abstract

The utility model discloses a laser hiding and jacking AGV, which belongs to the technical field of mobile robots and comprises a walking system, a jacking system, a charging system, a control system and a navigation system, wherein the control system is used for controlling the navigation system; the navigation system comprises 2 laser sensors, and the 2 laser sensors are installed in the middle positions of the front end and the rear end of the laser latent jacking AGV. The problem of among the prior art route be difficult to change the extension, it is big to complicated route limitation is solved, the effect that can set up in a flexible way has been reached.

Description

Laser jacking AGV that hides

Technical Field

The utility model belongs to the technical field of mobile robot, a jacking AGV is hidden to laser is related to.

Background

The automatic guided vehicle belongs to a mobile robot, and is an unmanned automatic carrying vehicle which takes a battery as power and is provided with a non-contact guiding device and an independent addressing system. The system is mainly characterized by having functions of trolley programming, parking selection device, safety protection and various shifting functions, and can be autonomously driven according to instructions under the monitoring of a computer, automatically travel along a specified guide path, arrive at a specified place and complete a series of operation tasks. The system technology and products thereof become important equipment and technology of flexible production lines, flexible assembly lines and warehouse logistics automation systems.

Electromagnetic guidance, tape guidance, optical guidance and inertial navigation are all traditional guidance modes, and are still adopted by many systems at present, and navigation is realized by the modes of paving a tape, painting or pasting a color tape and the like on a running path of an AGV. The main advantages are simple and reliable, convenient control and communication, and low cost. The defects are that the path is difficult to change and expand, and the limitation on the complex path is large.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the purpose is: provided is a laser latent jacking AGV.

The technical scheme of the utility model is that: a laser latent jacking AGV comprises a walking system, a jacking system, a charging system, a control system and a navigation system,

the control system is used for controlling the navigation system;

navigation includes 2 laser sensor, 2 laser sensor install the intermediate position at both ends around the jacking AGV is hidden to laser.

The further technical scheme is as follows: the jacking system includes: the lifting sensor is arranged on the periphery of the lifting driving assembly, and the lifting sensor controls the lifting driving assembly to ascend and descend.

The further technical scheme is as follows: the lifting driving assembly comprises a lifting motor, a cylindrical gear, a ball screw, a jacking support and a lifting platform;

the lifting motor is controlled by a driver, the lifting motor controls the cylindrical gear to rotate so as to control the linear motion of the ball screw to control the lifting of the lifting platform, and the jacking support is installed outside the ball screw.

The further technical scheme is as follows: the lifting platform is characterized in that a compensation ring is installed above the lifting platform, a turntable is installed above the compensation ring, the turntable is in a ring shape, a glass window is installed at the center of the ring, and an anti-slip pad is installed above the turntable.

The further technical scheme is as follows: the lifting driving assembly further comprises 4 guide bearings, the 4 guide bearings are installed on the periphery of the jacking support, and guide seats are installed outside the 4 guide bearings.

The further technical scheme is as follows: jacking AGV is hidden to laser still includes two-dimensional code sensor or IMU sensor, the two-dimensional code sensor is installed jacking AGV's bottom is hidden to laser, the IMU sensor is used for carrying out angle correction.

The further technical scheme is as follows: the laser latent jacking AGV further comprises a logic controller PLC, an HMI touch screen, a switch, a wireless AP client and a communication V module, wherein the PLC is connected with the HMI touch screen through a serial port or an Ethernet; the PLC is connected with the switch through an Ethernet; the PLC is connected with the communication V module through Ethernet; the switch is connected with the wireless AP client through an Ethernet; the communication V module is connected with the wireless AP client through the Ethernet; and the communication V module is connected with the navigation system through a serial port.

The further technical scheme is as follows: charging system installs the place ahead of jacking AGV is hidden to laser or the intermediate position at rear, jacking AGV is hidden to laser is including the brush that charges, the brush bottom that charges is provided with the charging panel for be connected with filling electric pile and consider that jacking AGV is hidden to laser charges.

The further technical scheme is as follows: the periphery of the laser latent jacking AGV is provided with n lifting rings, and n is an integer greater than or equal to 2.

The further technical scheme is as follows: traveling system includes 4 universal wheels and 2 walking drive assembly, 4 universal wheels are installed 4 angles of jacking AGV are hidden to laser, 2 walking drive assembly installs the left and right sides of jacking AGV bottom is hidden to laser, walking drive assembly includes drive wheel and servo motor, servo motor control the drive wheel rotates, servo motor passes through the driver drive.

The utility model has the advantages that:

set up 2 laser sensor through the intermediate position at the front and back both ends of jacking AGV is hidden to laser, can realize navigating according to 2 laser sensor, need not to set up the reflector panel or lay auxiliary objects such as magnetic stripe and navigate, solved among the prior art that the route is difficult to the change extension, to the big problem of complicated route limitation, reached the effect that can set up in a flexible way.

The two-dimensional code sensor is arranged at the bottom, so that the secondary positioning of the trolley is realized under special conditions; the correction of the angle of the laser latent jacking AGV can be realized by arranging the IMU sensor.

And a lifting sensor is arranged in the jacking system, so that the lifting height can be flexibly controlled. In addition, the laser latent jacking AGV is high in load, not only suitable for being carried in the logistics industry, but also suitable for carrying factory cargos.

Drawings

The invention will be further described with reference to the following drawings and examples:

FIG. 1 is a front schematic view of a laser latent jacking AGV provided by embodiments of the present application;

FIG. 2 is a rear schematic view of a laser latent jacking AGV according to an embodiment of the present application;

FIG. 3 is a side view of a jacking system for latently jacking an AGV according to an embodiment of the present application;

FIG. 4 is a top view of a jacking system for latently jacking an AGV according to an embodiment of the present application;

FIG. 5 is a bottom view of a jacking system for a laser latent jacking AGV according to embodiments of the present application;

FIG. 6 is a bottom view of a laser latent jacking AGV as provided by embodiments of the present application;

FIG. 7 is a diagram of a drive level of a laser latent jacking AGV according to an embodiment of the present application;

FIG. 8 is a schematic diagram of the overall structure of a laser latent jacking AGV provided by the present application.

Wherein: 111. 112, 113 and 114 are 4 universal wheels; 121. 122 are 2 drive wheels; 123. 124 are 2 servo motors; 211 is a lifting motor; 212 is a cylindrical gear; 213 is a ball screw; 214 is a jacking support; 215 is a lifting platform; 221. 222, 223, 224 are 4 guide bearings; 225. 226, 227 and 228 are 4 guide seats; 23 is a lifting sensor; 241 is a compensation ring; 242 is a turntable; 243 is glass window; 244 is a non-slip mat; 311 is a charging brush; 312 is a charging plate; 313 is a 48V lithium battery; 314 is a switch power supply for converting 48V into 24V, 315 is a switch power supply for converting 48V into 12V, and 316 is a switch power supply for converting 48V into 5V; 41 is an industrial control computer; 411. 412 are 2 laser sensors; 42 is a logic controller PLC; 421 is HMI touch screen, 422 is exchanger, 423 is wireless AP client, 424, 425 are walking system driver, 426 is jacking system driver; 43 is a contactor; 51 is a power switch, 521 and 522 are emergency stop buttons for controlling the total power supply of the AGV; 531. 532 is a start button; 541. 542 is a reset button; 61. 62, 63, 64 are 4 rings.

Detailed Description

Example (b):

referring to fig. 1 and 2, which illustrate schematic front and rear views of a laser latent jacking AGV provided in an embodiment of the present application, fig. 3 to 5 are side, top and bottom views of a jacking system of the laser latent jacking AGV provided in the present application, and fig. 6 and 7 are bottom views and driving layer views of the laser latent jacking AGV provided in the present application, and with reference to fig. 1 to 7, the laser latent jacking AGV includes: the device comprises a walking system, a jacking system, a charging system, a control system and a navigation system.

The control system controls the walking system, the jacking system, the charging system and the navigation system.

The navigation system comprises 2

laser sensors

411 and 412, and the 2 laser sensors are arranged in the middle of the front end and the rear end of the AGV which is lifted in a laser hiding mode.

The traveling system comprises 4

universal wheels

111, 112, 113 and 114 and 2 traveling driving assemblies, wherein the 4 universal wheels are arranged at 4 corners of the laser latent jacking AGV, the 2 traveling driving assemblies are arranged at the left side and the right side of the bottom of the laser latent jacking AGV, the traveling driving assemblies comprise

driving wheels

121 and 122 and

servo motors

123 and 124, the

servo motors

123 and 124 control the

driving wheels

121 and 122 to rotate, and the servo motors are driven by drivers 324 and 325. Wherein, each driving wheel corresponds to a servo motor and a driver for controlling the servo motor.

The jacking system includes: the lifting device comprises a lifting driving assembly and a lifting sensor 23, wherein the lifting sensor 23 is arranged around the lifting driving assembly, and the lifting sensor 23 controls the lifting driving assembly to ascend and descend. And the lifting sensor 23 is arranged at any position around the lifting driving assembly and used for controlling the lifting platform to ascend and descend. The lifting induction piece moves in an induction area of the proximity switch, and the proximity switch sends out an electric command according to the position of the induction piece to reflect the position and the stroke of the jacking system.

The lifting driving assembly comprises a lifting motor 211, a cylindrical gear 212, a ball screw 213, a jacking support 214 and a lifting platform 215.

The lifting motor 211 is controlled by a driver, the lifting motor 211 controls the cylindrical gear 212 to rotate, so that the lifting platform 215 is controlled to lift by controlling the linear motion of the ball screw 213, and the lifting support 214 is installed outside the ball screw 213.

A compensation ring 241 is installed above the lifting platform 215, a rotating disc 242 is installed above the compensation ring 241, the rotating disc 242 is in a circular ring shape, a glass window 243 is installed at the center of the circular ring, and an anti-skid pad 244 is installed above the rotating disc.

The lifting driving assembly further comprises 4

guide bearings

221, 222, 223 and 224, wherein the 4

guide bearings

221, 222, 223 and 224 are arranged on the periphery of the lifting support 214, and

guide seats

225, 226, 227 and 228 are arranged outside the 4 guide bearings.

Charging system installs the intermediate position in the place ahead of jacking AGV or rear is hidden to laser, and jacking AGV is hidden to laser is including charging brush 311, and the brush 311 bottom that charges is provided with charging panel 312 for be connected for jacking AGV charges is hidden to laser with filling electric pile. The charging system further includes a 48V lithium battery 313; the power supply includes a 48V to 24V switching power supply 314, a 48V to 12V switching power supply 315, and a 48V to 5V switching power supply 316, which is not limited in this embodiment.

The control system may be an industrial control computer 41 for controlling the operation of the navigation system.

The laser latent jacking AGV further comprises an ANT box 213, a two-dimensional code sensor or an Inertial Measurement Unit (IMU), wherein the two-dimensional code sensor is installed at the bottom of the laser latent jacking AGV, and the IMU sensor is used for angle correction.

Referring to fig. 8, the laser latent jacking AGV further includes a PLC (Programmable Logic Controller), an HMI (human-machine interface) touch screen 421, a switch 422, a wireless AP (access point) client 423, a communication V module, a traveling

system driver

424, 425, a jacking system driver 426, and a PLC42 connected to the HMI touch screen 421 through a serial port or an ethernet; the PLC42 is connected to the switch 422 via ethernet; the PLC is connected with the communication V module through the Ethernet; the switch 422 and the wireless AP client 423 are connected via ethernet; the communication V module is connected with the wireless AP client 423 through the Ethernet; the communication V module is connected with the navigation system through a serial port. The battery in the figure is the 48V lithium battery 313 described above; a 48V to 24V switching power supply 314, a 48V to 12V switching power supply 315 and a 48V to 5V switching power supply 316. Of course, in practice, the laser latent jacking AGV may also include other components such as a security scanner, which is not limited in this embodiment.

The periphery of the laser latent jacking AGV is provided with n lifting rings, and n is an integer greater than or equal to 2. For example, four corners of the trolley are provided with 4 lifting rings 61, 62, 63 and 64 for carrying the trolley under special conditions such as transportation.

Furthermore, in the above embodiment, the laser latent jacking AGV may further include an accessory including a contactor 43 that controls an electrical load; a power switch 51 for controlling the total power of the AGV; scram buttons 521,522 for controlling the buttons to control the scram of the vehicle in case of emergency; a start button 531,532 for controlling the start of the AGV; and a reset button 541,542 for controlling the reset of the AGV.

To sum up, the jacking AGV is hidden to laser that this application provided sets up 2 laser sensor through the intermediate position at jacking AGV's front and back both ends of hiding at laser, can realize navigating according to 2 laser sensor, need not to set up the reflector panel or lay auxiliaries such as magnetic stripe and navigate, has solved among the prior art path and has been difficult to the change extension, to the big problem of complicated path limitation, has reached the effect that can set up in a flexible way.

The terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying a number of the indicated technical features. Thus, a defined feature of "first", "second", may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A laser latent jacking AGV is characterized by comprising a walking system, a jacking system, a charging system, a control system and a navigation system,

the control system is used for controlling the navigation system;

2. The laser latent jacking AGV of claim 1, wherein the jacking system includes: the lifting sensor is arranged on the periphery of the lifting driving assembly, and the lifting sensor controls the lifting driving assembly to ascend and descend.

3. The laser latent jacking AGV of claim 2, wherein the lift drive assembly includes a lift motor, a cylindrical gear, a ball screw, a jacking mount and a lift platform;

4. The laser latent jacking AGV according to claim 3, wherein a compensation ring is installed above the lifting platform, a turntable is installed above the compensation ring, the turntable is in a circular ring shape, a glass window is installed at the center of the circular ring, and a non-slip mat is installed above the turntable.

5. The laser latent jacking AGV of claim 3, wherein said lift drive assembly further comprises 4 guide bearings, said 4 guide bearings being mounted around said jacking seat, said 4 guide bearings having guide seats mounted thereon.

6. The laser latency jacking AGV of any one of claims 1 to 5, further comprising a two-dimensional code sensor or IMU sensor, wherein the two-dimensional code sensor is installed at the bottom of the laser latency jacking AGV, and the IMU sensor is used for angle correction.

7. The laser latent jacking AGV of claim 1, further comprising a logic controller (PLC), an HMI touch screen, a switch, a wireless AP client, and a communication V module, wherein the PLC is connected to the HMI touch screen via a serial port or an Ethernet; the PLC is connected with the switch through an Ethernet; the PLC is connected with the communication V module through Ethernet; the switch is connected with the wireless AP client through an Ethernet; the communication V module is connected with the wireless AP client through the Ethernet; and the communication V module is connected with the navigation system through a serial port.

8. The laser latency jacking AGV according to any one of claims 1 to 5, wherein the charging system is installed in the middle position in front of or behind the laser latency jacking AGV, the laser latency jacking AGV comprises a charging brush, and a charging plate is arranged at the bottom of the charging brush and used for being connected with a charging pile to charge the laser latency jacking AGV.

9. The laser latent jacking AGV according to any one of claims 1 to 5, wherein n rings are arranged around the laser latent jacking AGV, and n is an integer greater than or equal to 2.

10. The laser latency jacking AGV according to any one of claims 1 to 5, wherein the traveling system comprises 4 universal wheels and 2 traveling driving assemblies, the 4 universal wheels are installed at 4 corners of the laser latency jacking AGV, the 2 traveling driving assemblies are installed at the left and right sides of the bottom of the laser latency jacking AGV, the traveling driving assemblies comprise driving wheels and servo motors, the servo motors control the driving wheels to rotate, and the servo motors are driven by drivers.