CN216662390U - But heavy load AGV of outdoor operation - Google Patents

Abstract

The utility model discloses an outdoor-running heavy-load AGV (automatic guided vehicle), which comprises a vehicle frame, a driving unit, a lifting unit, a navigation unit, an anti-collision unit and a control panel unit, wherein two supporting legs are arranged on one side of the vehicle frame, a housing is arranged on the outer side of the vehicle frame, and a protective frame is fixedly arranged at the top of the vehicle frame. Through the multi-system unit cooperation that sets up, this scheme frame main part design is single steering wheel drive stack formula fork truck AGV, the navigation unit adopts laser navigation, inertial navigation, multiple hybrid navigation guarantee automobile body such as magnetic nail navigation operating accuracy under outdoor adverse circumstances, when to outdoor slot road surface and climbing, stability when adjustable fork inclination is in order to improve cargo handling, pile up neatly in-process cooperation encoder of acting as go-between improves the stack precision when the fork is promoted, this scheme is from going, the location, each links such as transport consider, intelligent transport has really been realized, the intensity of artifical transport has been alleviateed, and its stability and precision have been improved.

Description

But heavy load AGV of outdoor operation

Technical Field

The utility model belongs to the technical field of AGV, and particularly relates to a heavy-load AGV capable of running outdoors.

Background

An AGV (automated Guide vehicle), namely an automated guided transport vehicle, belongs to the field of wheeled mobile robots, can run along a specified Guide path under the monitoring of a control system, has the functions of safety, automatic transportation and the like, effectively replaces manpower, greatly improves the transportation efficiency, realizes deep application in the fields of indoor factory material transportation, storage logistics and the like, is limited by the limitations of navigation precision, grooves, climbing, rain and snow weather and the like outdoors, and is difficult to stably run.

In the manufacturing industry, its manufacturing process is not only restricted to single factory building, therefore the distribution of material often still involves the commodity circulation between factory building and the factory building and to come, just need use outdoor AGV under this kind of scene, simultaneously, current AGV mostly uses the formula of diving in two tons as the owner, and it is less to big tonnage fork truck AGV design, consequently to the short distance transport of outdoor heavy load goods at present, too much manual work is carried, the flatbed is got on and is got off the goods and is leaded to its inefficiency, and degree of automation is difficult to promote.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide the heavy-load AGV capable of running outdoors, which has the advantages of high unloading efficiency, reduced carrying strength of workers and high automation degree.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a but outdoor operation's heavy load AGV, includes frame, drive unit, hoisting unit, navigation unit, anticollision unit and controls the panel unit, two landing legs are installed to one side of frame, the outside of frame is provided with the housing, the top fixed mounting of frame has the protection frame.

The driving unit comprises a vehicle-mounted controller, a driving steering wheel, a follow-up wheel and a steering wheel driver.

The lifting unit comprises a hydraulic system, a gantry system and a fork system, the output end of the hydraulic system is connected with a hydraulic lifting cylinder, the inside movable mounting of the gantry system is provided with a sprocket lifting adjusting group, one side of the gantry system is hinged with an adjusting toothed plate, and one side of the adjusting toothed plate is movably provided with two fork legs.

The navigation unit comprises a laser navigation sensor, a magnetic nail sensor and a gyroscope sensor.

The anti-collision unit comprises a photoelectric sensor and a rubber type safe contact edge.

Preferably, the frame and the support legs form a stacking forklift shape with fork legs, and the housing is fixedly mounted on the outer side of the top of the frame.

Preferably, the vehicle-mounted controller is located inside the frame and the housing, the steering wheel driver is located at the bottom inside the frame, the output end of the steering wheel driver is in transmission connection with the steering wheel, the number of the follow-up wheels is two, the two follow-up wheels are movably mounted inside the supporting legs, and the driving steering wheels and the follow-up wheels are uniformly distributed in a triangular shape.

Preferably, the hydraulic system comprises a hydraulic driver, an output end of the hydraulic driver is in transmission connection with a hydraulic lifting cylinder and an input end of the sprocket lifting adjusting group, and an output end of the hydraulic lifting cylinder is movably connected with the gantry system.

Preferably, the laser navigation sensor is movably arranged at the top of the protection frame, and a protection cover is arranged at the top of the laser navigation sensor.

Preferably, the magnetic nail sensor is located on one side of the bottom of the frame, and the gyroscope sensor is located inside the casing and the frame.

Preferably, the number of the photoelectric sensors is six, and the six photoelectric sensors are symmetrically and uniformly distributed on two sides of the front end of the frame, two sides of the front end of the support leg and the front end of the fork leg.

Preferably, the quantity that the limit was touched safely to the rubber type is two sets of, and two sets of rubber type touches the both sides that the limit lies in frame and landing leg respectively safely.

Preferably, the rubber type safe touch edge outside is the rubber hose, and inside is provided with the scram circuit to install the safe anticollision institution that adopts mechanical contact.

Preferably, the control panel unit comprises a liquid crystal display screen, a switch lock button, a data interface and a status indicator lamp.

Compared with the prior art, the utility model has the beneficial effects that:

1. the direction and the walking path are planned by the navigation unit, and then under the action of the driving unit, the vehicle body is driven to run to the front end of the cargo tray along with the real-time monitoring of the laser anti-collision unit. According to the real-time feedback of a navigation system and a fork front end sensor, after a fork enters a specified position under a tray, a hydraulic controller receives a driving instruction, the hydraulic motor is controlled to work, the fork is driven to lift, and the goods are conveyed.

2. Through the cooperation of the multiple system units, the frame main body is designed into a single-steering-wheel-drive stacking type forklift AGV, the navigation unit adopts laser navigation, inertial navigation, magnetic nail navigation and other multiple mixed navigation to ensure the running precision of the forklift under outdoor severe environment, the forklift housing adopts an integrated design and is welded with the frame at the back, the sealing performance and the safety of an electric cabin are ensured, the rain and snow resistance of the forklift are improved, the inclination angle of the forklift can be adjusted to improve the stability of goods during transportation when the forklift is used for outdoor groove pavement and climbing, the lifting unit is a second-level gantry to cooperate with a hydraulic system and a controller to realize the transportation and stacking of heavy-load goods, photoelectric sensors are arranged at the front end and the root part of the forklift part and used for detecting the position of the goods, the stacking precision of the forklift during lifting is improved by cooperating with a stay wire encoder in the stacking process, and the forklift is driven by a vehicle, And all links such as positioning, conveying and the like are considered, so that intelligent conveying is really realized, the strength of manual conveying is reduced, and the stability and the precision of the intelligent conveying are improved.

Drawings

FIG. 1 is a schematic diagram of a three-dimensional appearance structure of a main body according to the present invention;

FIG. 2 is a schematic diagram of a rear perspective structure according to the present invention;

FIG. 3 is a front perspective structural view of the present invention;

FIG. 4 is a schematic view of the electrical system layout structure after the vehicle body cover is hidden according to the present invention;

FIG. 5 is a schematic top view of the present invention;

FIG. 6 is a schematic left-view structure of the present invention;

FIG. 7 is a schematic view of a rear view of the present invention;

fig. 8 is a front view of the present invention.

In the figure: 1. a frame; 11. a housing; 12. a support leg; 13. a protective frame; 2. a drive unit; 21. a vehicle-mounted controller; 22. driving a steering wheel; 23. a follower wheel; 24. a steering wheel driver; 3. a lifting unit; 31. a hydraulic system; 311. a hydraulic lifting cylinder; 32. a gantry system; 321. a sprocket lifting adjusting group; 33. a fork system; 331. adjusting the toothed plate; 332. a fork leg; 4. a navigation unit; 41. a laser navigation unit; 42. a magnetic nail sensor; 43. a gyroscope sensor; 5. an anti-collision unit; 51. a photoelectric type sensor; 52. rubber type safe touch edges; 6. and a control panel unit.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a but outdoor operation's heavy load AGV, includes frame 1, drive unit 2, hoisting unit 3, navigation unit 4, anticollision unit 5 and controls panel unit 6, and two landing legs 12 are installed to one side of frame 1, and the outside of frame 1 is provided with housing 11, and the top fixed mounting of frame 1 has protection frame 13.

The drive unit 2 comprises an on-board controller 21, a driving steering wheel 22, a follower wheel 23 and a steering wheel drive 24.

The lifting unit 3 comprises a hydraulic system 31, a gantry system 32 and a fork system 33, the output end of the hydraulic system 31 is connected with a hydraulic lifting cylinder 311, a sprocket lifting adjusting group 321 is movably mounted inside the gantry system 32, an adjusting toothed plate 331 is hinged to one side of the gantry system 32, and two fork legs 332 are movably mounted to one side of the adjusting toothed plate 331.

The navigation unit 4 includes a laser navigation sensor 41, a magnetic nail sensor 42, and a gyro sensor 43.

The collision avoidance unit 5 includes a photoelectric type sensor 51 and a rubber type safety contact edge 52.

In the embodiment, the direction and the walking path are planned by the navigation unit 4, then under the action of the driving unit 2, along with the real-time monitoring of the photoelectric sensor 51 in the collision avoidance unit 5, the driving unit 2 keeps the transportation dynamic stability, the steering wheel driver 24 in the driving unit 2 provides the movement and the steering for driving the steering wheel 22, the follower wheel 23 is responsible for movement support, the vehicle body is driven to run to the front end of the cargo pallet, according to the real-time feedback of the photoelectric sensor 51 at the front end of the navigation unit 4 and the cargo fork leg 332, the support leg 12 frames the pallet, the cargo fork leg 332 abuts against the bottom of the pallet, after the cargo fork leg 332 enters the specified position under the pallet, the hydraulic system 31 starts running, the hydraulic driver in the hydraulic system 31 extends the hydraulic lifting cylinder 311 in a transmission manner, the gantry system 32 and the cargo fork system 33 are driven to lift, the transportation of the cargo is realized, when the vehicle-mounted controller 21 runs outdoors according to the preset instruction and the running state, the vehicle body is navigated and positioned according to the magnetic nails pre-buried outdoors and the magnetic nail sensor 42 at the bottom of the vehicle body, and is assisted with laser route planning of the laser navigation sensor 41 and inertial navigation of the gyroscope sensor 43, so that accurate positioning and stable operation in severe outdoor environments are ensured.

Specifically, the frame 1 and the support legs 12 form a stacking forklift shape with fork legs, and the housing 11 is fixedly arranged on the outer side of the top of the frame 1.

In this embodiment, the housing 11, the legs 12 and the frame 1 constitute a main body supporting mechanism of the vehicle body, and the housing 11 is designed integrally and welded to the frame 1 to ensure the sealing performance of the electrical cabin.

Specifically, the vehicle-mounted controller 21 is located inside the frame 1 and the housing 11, the steering wheel driver 24 is located at the bottom inside the frame 1, the output end of the steering wheel driver 24 is in transmission connection with the driving steering wheels 22, the number of the following wheels 23 is two, the two following wheels 23 are movably mounted inside the supporting legs 12, and the driving steering wheels 22 and the following wheels 23 are uniformly distributed in a triangular shape.

In this embodiment, the output end of the onboard controller 21 is electrically connected to the input ends of the steering wheel driver 24, the hydraulic lifting cylinder 311, the hydraulic driver, the laser navigation sensor 41, the magnetic nail sensor 42, the gyroscope sensor 43, the photoelectric sensor 51 and the control panel unit 6 through wires, the input end of the onboard controller 21 is electrically connected to the output ends of the laser navigation sensor 41, the magnetic nail sensor 42, the gyroscope sensor 43, the photoelectric sensor 51, the rubber safety contact edge 52 and the control panel unit 6 through wires, the power movement and steering of the driving steering wheel 22 are controlled when the steering wheel driver 24 operates, the follower wheel 23 and the driving steering wheel 22 form a triangle and are stabilized as an integral structure bearing force, so that the operating torque is stabilized, the driving unit 2 is a three-branch single-steering-wheel driving structure, the structure is simple, no suspension design is required, the number of the driving steering wheels 22 is one, the follower wheels 23 are two in number.

Specifically, the hydraulic system 31 includes a hydraulic driver, an output end of the hydraulic driver is in transmission connection with the hydraulic lifting cylinder 311 and an input end of the sprocket lifting adjusting group 321, and an output end of the hydraulic lifting cylinder 311 is movably connected with the gantry system 32.

In this embodiment, the lifting unit 3 mainly includes a hydraulic system 31, a gantry system 32, a fork system 33, the hydraulic system 31 is disposed inside the housing 11, protection is provided, both sides of the gantry system 32 are connected with a hydraulic lifting cylinder 311, a fork leg 332 in the fork system 33 is adjustable in distance through the movable installation of an adjusting toothed plate 331, and is matched with a sprocket lifting adjusting group 321 to adjust the inclination angle of the hinged adjusting toothed plate 331 and the fork leg 332, so as to adapt to trays of different sizes, outdoor grooves and gradient road surfaces.

Specifically, the laser navigation sensor 41 is movably mounted on the top of the protection frame 13, and a protection cover is disposed on the top of the laser navigation sensor 41.

In this embodiment, laser navigation sensor 41 is installed in protection frame 13 the top for receive laser signal back feedback automobile body position, the protection casing can block the direct contact acquisition camera lens of sleet, in order to deal with outdoor sleet weather, improve the precision, navigation unit 4 adopts many system hybrid modes such as laser navigation, inertial navigation, magnetic nail navigation, fully guarantees the navigation positioning accuracy under the outdoor adverse circumstances.

Specifically, the magnetic nail sensor 42 is located on one side of the bottom of the frame 1, and the gyro sensor 43 is located inside the cover 11 and the frame 1.

In this embodiment, magnetism nail sensor 42 installs in the bottom of automobile body, can increase stability for the outdoor operation of automobile body through outdoor pre-buried magnetism nail perception automobile body position, and gyroscope sensor 43 installs inside automobile body housing 11, and the operation reverse angle through surveying the AGV realizes rectifying of direction.

Specifically, the number of the photoelectric sensors 51 is six, and the six photoelectric sensors 51 are symmetrically and uniformly distributed on two sides of the front end of the frame 1, two sides of the front end of the leg 12 and the front end of the fork leg 332.

In this embodiment, the photoelectric sensors 51 are divided into sensors and laser sensors, the sensors are respectively installed at the front end and the root of the fork leg 332 and used for detecting the position and the state of the goods, and the photoelectric sensors 51 are respectively arranged at the front end of the fork, the root of the fork and two sides of the supporting leg 12; the quantity is six, and the symmetric distribution guarantees the automobile body operation security through adjusting safe response distance, and laser type sensor installs in 1 front end of frame, both sides and fork front end, guarantees 360 safety protection of automobile body.

Specifically, the number of the rubber-type safety contact edges 52 is two, and the two groups of rubber-type safety contact edges 52 are respectively located on two sides of the frame 1 and the leg 12.

In this embodiment, the rubber-type safety contact edge 52 can sense the torque extrusion and the obstacle situation received by the two sides of the vehicle body, so as to be convenient for dealing with the emergency situation during operation and increase the safety during operation.

Specifically, the rubber type safety contact edge 52 is provided with a rubber hose at the outer side and an emergency stop line inside, and is provided with a safety anti-collision mechanism adopting a mechanical contact type.

In this embodiment, the rubber type safety contact edges 52 are symmetrically arranged on two sides of the vehicle body, an emergency stop line is arranged in the rubber type safety contact edges, and the vehicle body is subjected to emergency stop treatment after the mechanical contact type safety anti-collision mechanism is extruded, so that the safety and stability of the vehicle body operation are further improved.

Specifically, the control panel unit 6 includes a liquid crystal display, a switch lock button, a data interface, and a status indicator.

In this embodiment, liquid crystal display can help the operating personnel to set up route planning, to the setting of equipment operation mode and the reference design of data parameter etc. the switch lock button is the holistic total control button of equipment for the theftproof with prevent the mistake and start, data interface is used for looking over log data and behavior, and carry out system programming and write in to internal system, the status indicator lamp is used for pointing out operation and maintainer equipment operating condition, convenience when being used for increasing.

The working principle and the using process of the utility model are as follows: the output end of the vehicle-mounted controller 21 is electrically connected with the steering wheel driver 24, the hydraulic lifting cylinder 311, the hydraulic driver, the laser navigation sensor 41, the magnetic nail sensor 42, the gyroscope sensor 43, the photoelectric sensor 51 and the input end of the control panel unit 6 through wires, the input end of the vehicle-mounted controller 21 is electrically connected with the laser navigation sensor 41, the magnetic nail sensor 42, the gyroscope sensor 43, the photoelectric sensor 51, the rubber safety contact edge 52 and the output end of the control panel unit 6 through wires, the steering wheel driver 24 controls the power movement and the steering of the driving steering wheel 22 when in operation, the follower wheel 23 and the driving steering wheel 22 form a triangular structure which is stable as a whole structure to bear force, so that the operation moment is stable, the driving unit 2 is a three-point type single steering wheel driving structure, the structure is simple, the suspension design is not needed, the number of the driving steering wheels 22 is one, the number of the follower wheels 23 is two, the lifting unit 3 mainly comprises a hydraulic system 31, a portal system 32 and a fork system 33, wherein the hydraulic system 31 is arranged inside the housing 11 to provide protection, both sides of the portal system 32 are connected with a hydraulic lifting cylinder 311, a fork leg 332 in the fork system 33 can adjust the distance through adjusting the movable installation of a toothed plate 331 and is matched with the action of a sprocket lifting adjusting group 321 to adjust the inclination angle of the hinged adjusting toothed plate 331 and the fork leg 332 so as to adapt to pallets with different sizes, outdoor trenches and gradient road surfaces, the direction and the walking path are planned by the navigation unit 4 during operation, then under the action of the driving unit 2, the photoelectric sensor 51 in the collision avoidance unit 5 is monitored in real time to keep the dynamic stability of the pallet, the steering wheel driver 24 in the driving unit 2 provides movement and steering for driving the steering wheel 22, the follower wheel 23 is responsible for movement support to drive the vehicle body to move to the front end of the cargo pallet, according to the real-time feedback of the photoelectric sensor 51 at the front end of the navigation unit 4 and the fork leg 332, the support leg 12 frames the pallet, the fork leg 332 abuts against the bottom of the pallet, after the fork leg 332 enters a specified position under the pallet, the hydraulic system 31 starts to operate, a hydraulic driver in the hydraulic system 31 drives a hydraulic lifting cylinder 311 to extend out, so as to drive a portal system 32 and a fork system 33 to lift, so as to realize the carrying of goods, the vehicle-mounted controller 21 conducts navigation and positioning on the vehicle body according to magnetic nails pre-embedded outdoors and magnetic nail sensors 42 at the bottom of the vehicle body according to a preset instruction and an operating state during outdoor operation, and is assisted with laser route planning of the laser navigation sensor 41 and inertial navigation of the gyroscope sensor 43 to ensure accurate positioning and stable operation under outdoor severe environment, and in addition, the housing 11, the support leg 12 and the vehicle frame 1 form a main body supporting mechanism of the vehicle body, the housing 11 is designed as an integration, and is welded together with the frame 1, guarantees the leakproofness of electric storehouse, and laser navigation sensor 41 is installed in protection frame 13 topmost for feedback automobile body position behind the received laser signal, the protection casing can block the direct contact collecting lens of sleet, in order to deal with outdoor sleet weather, improves the precision, and navigation unit 4 adopts laser navigation, inertial navigation, magnetism nail navigation etc. to system's mixed mode, fully guarantees the navigation positioning accuracy under the outdoor adverse circumstances.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a but heavy load AGV of outdoor operation, includes frame (1), drive unit (2), hoisting unit (3), navigation unit (4), anticollision unit (5) and controls panel unit (6), its characterized in that: two supporting legs (12) are mounted on one side of the frame (1), a housing (11) is arranged on the outer side of the frame (1), and a protective frame (13) is fixedly mounted on the top of the frame (1);

the driving unit (2) comprises a vehicle-mounted controller (21), a driving steering wheel (22), a follow-up wheel (23) and a steering wheel driver (24);

the lifting unit (3) comprises a hydraulic system (31), a gantry system (32) and a pallet fork system (33), the output end of the hydraulic system (31) is connected with a hydraulic lifting cylinder (311), a sprocket lifting adjusting group (321) is movably mounted in the gantry system (32), one side of the gantry system (32) is hinged with an adjusting toothed plate (331), and two pallet fork legs (332) are movably mounted on one side of the adjusting toothed plate (331);

the navigation unit (4) comprises a laser navigation sensor (41), a magnetic nail sensor (42) and a gyroscope sensor (43);

the collision avoidance unit (5) comprises a photoelectric sensor (51) and a rubber-type safety contact edge (52).

2. An outdoor heavy duty AGV according to claim 1 wherein: the frame (1) and the supporting legs (12) form a stacking forklift shape with fork legs, and the housing (11) is fixedly installed on the outer side of the top of the frame (1).

3. An outdoor heavy loaded AGV according to claim 1 wherein: the vehicle-mounted controller (21) is located inside the frame (1) and the housing (11), the steering wheel driver (24) is located at the bottom inside the frame (1), the output end of the steering wheel driver (24) is in transmission connection with the driving steering wheel (22), the number of the follow-up wheels (23) is two, the two follow-up wheels (23) are movably mounted inside the supporting legs (12), and the driving steering wheels (22) and the follow-up wheels (23) are uniformly distributed in a triangular shape.

4. An outdoor heavy loaded AGV according to claim 1 wherein: the hydraulic system (31) comprises a hydraulic driver, the output end of the hydraulic driver is in transmission connection with the hydraulic lifting cylinder (311) and the input end of the sprocket lifting adjusting group (321), and the output end of the hydraulic lifting cylinder (311) is movably connected with the gantry system (32).

5. An outdoor heavy loaded AGV according to claim 1 wherein: the laser navigation sensor (41) is movably arranged at the top of the protection frame (13), and a protection cover is arranged at the top of the laser navigation sensor (41).

6. An outdoor heavy duty AGV according to claim 1 wherein: the magnetic nail sensor (42) is positioned on one side of the bottom of the frame (1), and the gyroscope sensor (43) is positioned in the housing (11) and the frame (1).

7. An outdoor heavy loaded AGV according to claim 1 wherein: the number of the photoelectric sensors (51) is six, and the six photoelectric sensors (51) are symmetrically and uniformly distributed on two sides of the front end of the frame (1), two sides of the front end of the supporting leg (12) and the front end of the fork leg (332).

8. An outdoor heavy loaded AGV according to claim 1 wherein: the number of the rubber type safe contact edges (52) is two, and the two groups of rubber type safe contact edges (52) are respectively positioned on two sides of the frame (1) and the supporting legs (12).

9. An outdoor heavy loaded AGV according to claim 1 wherein: the outer side of the rubber type safe touch edge (52) is provided with a rubber hose, an emergency stop circuit is arranged in the rubber hose, and a mechanical contact type safe anti-collision mechanism is arranged in the rubber hose.

10. An outdoor heavy loaded AGV according to claim 1 wherein: the control panel unit (6) comprises a liquid crystal display screen, a switch lock button, a data interface and a status indicator lamp.

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