CN218708939U

CN218708939U - Jacking type AGV

Info

Publication number: CN218708939U
Application number: CN202222209691.9U
Authority: CN
Inventors: 丁声雷; 周磊; 李文威; 黄伟溪; 邓世凯
Original assignee: Foshan Zhiyouren Technology Co ltd; South China Robotics Innovation Research Institute
Current assignee: Foshan Zhiyouren Technology Co ltd; South China Robotics Innovation Research Institute
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2023-03-24
Anticipated expiration: 2032-08-22

Abstract

The utility model discloses a jacking formula AGV, including automobile body, climbing mechanism, navigation head and industrial computer, wherein: the vehicle body comprises a bottom plate, an upper shell, a middle shell and a lower shell, wherein the middle shell is positioned between the upper shell and the lower shell, and an accommodating groove is formed among the upper shell, the middle shell and the lower shell; the navigation device comprises a laser radar, a magnetic navigation sensor and a two-dimensional code reader; the laser radar is arranged on the bottom plate and is positioned in the accommodating groove; the bottom plate is provided with a first cavity and a second cavity, the magnetic navigation sensor is arranged in the first cavity, and the two-dimensional code reader is arranged in the second cavity; the industrial personal computer is arranged in the upper shell; the jacking mechanism is fixedly connected with the bottom plate. The utility model discloses transport the function with the goods and the integration of goods jacking function in an organic whole, have multiple navigation mode moreover and select optionally, can realize two kinds of navigation mode's arbitrary switching, make jacking formula AGV's application scope obtain the extension.

Description

Jacking type AGV

Technical Field

The utility model relates to a transport means technical field, concretely relates to jacking formula AGV.

Background

The AGV transporting vehicle is provided with automatic guiding devices such as electromagnetic or laser devices, can travel along a specified guiding path to reach a specified place without manual driving, completes a series of operation tasks, is one of main equipment for realizing material transportation automation in a factory, and is particularly suitable for logistics transportation processes in industries such as storage industry, manufacturing industry and medicine.

However, conventional lift-off AGVs are designed based on both electromagnetic and laser guidance. The laser guide device needs a large number of reflecting plates, the installation position of the laser head is limited, and the use scene is single. The lifting type AGV of the electromagnetic guiding device only can walk on a fixed route, the route changing mode is complex, and the route is not flexible because a groove needs to be formed in the ground of a walking path during engineering installation; therefore, a lift-type AGV with wide application range and flexible route change is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's is not enough, the utility model provides a jacking formula AGV transports function and goods jacking function integration in an organic whole with the goods, has multiple navigation mode moreover and chooses to choose, can realize two kinds of navigation mode's arbitrary switching, makes jacking formula AGV's application scope obtain the extension.

The utility model provides a jacking formula AGV, a serial communication port, include: automobile body, climbing mechanism, navigation head and industrial computer, wherein:

the vehicle body comprises a bottom plate, an upper shell, a middle shell and a lower shell, wherein the middle shell is positioned between the upper shell and the lower shell, and an accommodating groove is formed among the upper shell, the middle shell and the lower shell;

the navigation device comprises a laser radar, a magnetic navigation sensor and a two-dimensional code reader;

the laser radar is arranged on the bottom plate and is positioned in the accommodating groove;

the bottom plate is provided with a first cavity and a second cavity, the magnetic navigation sensor is arranged in the first cavity, and the two-dimensional code reader is arranged in the second cavity;

climbing mechanism includes nut, lead screw, jacking layer board, connecting rod and jacking motor, jacking motor with the bottom plate rigid coupling, nut and lead screw setting are in jacking motor is last, the outer wall of nut is provided with the connecting rod, the jacking layer board sets up on the connecting rod, the inner wall of nut is provided with inner thread structure, the surface of lead screw is provided with outer thread structure, the nut with the lead screw is based on inner thread structure with outer thread structure spiro union cooperation.

A plurality of universal wheel assemblies are uniformly distributed on the bottom plate.

The upper shell is provided with a fifth cavity for accommodating the jacking supporting plate.

And a plurality of anti-collision rubber strips are arranged on the circumferential outer wall of the lower shell.

The inferior valve is provided with a plurality of ultrasonic sensor, and a plurality of ultrasonic sensor array distributes on the one end lateral wall of inferior valve.

The bottom plate is further provided with a driving device, the driving device comprises a driving wheel assembly, a speed reducer and a driving wheel motor, one end of the speed reducer is connected with the driving wheel assembly, and the other end of the speed reducer is connected with the driving wheel motor.

The drive wheel assembly includes a suspension assembly and a drive wheel disposed within the suspension assembly.

The suspension assembly comprises a suspension mounting plate, a first suspension support plate, a second suspension support plate and a sliding seat, wherein:

the suspension mounting plate is connected to the first suspension support plate at one end and to the second suspension support plate at the other end, and the first suspension support plate and the second suspension support plate are disposed on the base plate.

The sliding seat is divided into a first sliding seat and a second sliding seat;

the suspension mounting panel is internally provided with a driving wheel, one side of the driving wheel is provided with a first sliding seat, the other side of the driving wheel is provided with a second sliding seat, the first sliding seat and the second sliding seat are positioned below the suspension mounting panel, and the first sliding seat and the second sliding seat are connected based on a sliding seat connecting plate.

The sliding seat comprises a guide rod and a spring rod, the guide rod and the spring rod are inserted into the sliding seat, the suspension mounting plate is provided with a third cavity for accommodating the guide rod and a fourth cavity for accommodating the spring rod, and the top of the guide rod is fixed in the third cavity.

The utility model provides a jacking formula AGV can be under different environment independent assortment navigation mode, can not only realize the high accuracy location of magnetic stripe, two-dimensional code promptly, can also realize independently moving navigation. Under autonomous navigation's mode, establish picture, location and navigation based on laser radar and algorithm to provide autonomous navigation and two kinds of modes of waypoint cruise, and the laser radar and the ultrasonic sensor that carry on can acquire the environmental information that traveles in real time, thereby discernment barrier on the route of traveling supplies jacking formula AGV real time dynamic planning is around the barrier route, through setting up diversified navigation pattern, makes jacking formula AGV can satisfy different operational environment's jacking transport demand.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a lift AGV according to an embodiment of the present invention;

FIG. 2 is a rear view of a lift AGV in an embodiment of the present invention;

fig. 3 is a schematic view of a base plate in an embodiment of the invention;

fig. 4 is a bottom view of a base plate in an embodiment of the invention;

fig. 5 is a cross-sectional view of a jacking mechanism in an embodiment of the present invention;

fig. 6 is a bottom view of a jacking mechanism in an embodiment of the present invention;

fig. 7 is a schematic view of a driving device in an embodiment of the present invention.

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. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-4, fig. 1 shows a schematic structural diagram of a lift-up AGV in an embodiment of the present invention, fig. 2 shows a rear view of the lift-up AGV in an embodiment of the present invention, fig. 3 shows a schematic view of a bottom plate in an embodiment of the present invention, and fig. 4 shows a bottom view of the bottom plate in an embodiment of the present invention.

Specifically, jacking formula AGV characterized in that includes: automobile body 1, climbing mechanism 143, lidar 144, magnetic navigation sensor 142, two-dimensional code reader 141 and industrial computer 145, wherein: the vehicle body 1 comprises a bottom plate 14, an upper shell 11, a middle shell 12 and a lower shell 13, wherein the middle shell 12 is positioned between the upper shell 11 and the lower shell 13, an accommodating groove is formed among the upper shell 11, the middle shell 12 and the lower shell 13, and the bottom plate 14 is a main bearing structure and is used for loading the weight and the working load of the whole vehicle; the laser radar 144 is arranged on the bottom plate 14 and is positioned in the accommodating groove; the bottom plate 14 is provided with a first cavity and a second cavity, the magnetic navigation sensor 142 is arranged in the first cavity, the two-dimensional code reader 141 is arranged in the second cavity, and the magnetic navigation sensor 142 and the two-dimensional code reader 141 are used for reading a two-dimensional code near a magnetic track through the code reader after the lifting type AGV deviates the magnetic track, and correcting the travelling path of the lifting type AGV; the industrial personal computer 145 is arranged in the upper shell 11, is the core of the control system, and is internally provided with an android operating system and related software; the jacking mechanism 143 is fixedly connected to the bottom plate 14.

It should be noted that the laser radar 144 includes a laser radar support plate 1441 and a laser radar 1442, the laser radar 1442 is disposed on the laser radar support plate 1441, the laser radar 1442 is connected with and communicates with the industrial personal computer 145, and sends running environment information acquired in real time to the industrial personal computer 145, the industrial personal computer 145 adjusts a running route of the lift-type AGV based on a SLAM algorithm according to the running environment information, so as to achieve the purpose of actively avoiding obstacles, and the laser radar support plate 1441 is disposed on the bottom plate 14 and is used for achieving the purpose of supporting and fixing the laser radar 1442.

It should be noted that the SLAM algorithm is an algorithm for realizing positioning, mapping, and path planning, and is used to solve the problem of determining a motion trajectory of an unknown environment by observing the environment and constructing an environment map at the same time when the environment moves.

Specifically, the upper shell 11 has a fifth cavity for accommodating the jacking support plate 1431, so as to achieve the purpose of lifting the jacking support plate 1431, four corners of the upper shell are provided with light bars 112 for achieving the purpose of displaying the operation state, and the upper shell 11 is further provided with a display screen 111 for achieving the purpose of human-computer interaction.

Specifically, the middle shell 12 is provided with a WiFi antenna 121 and a 5G antenna 122 for communicating with a remote terminal and receiving remote control of the remote terminal.

Specifically, be provided with a plurality of anticollision adhesive tape 131 on the circumference outer wall of inferior valve 13, anticollision adhesive tape 131 sets up on the four corners of inferior valve for when realizing that the adhesive tape bumps the object, stop the purpose that the lift-type AGV moved immediately.

More, the lower case 13 is provided with a charging electrode 133, and the charging electrode 133 is located on one end side wall of the lower case 13.

More, lower casing 13 is provided with first ultrasonic sensor array 132 and second ultrasonic sensor array 134, first ultrasonic sensor array 132 sets up on the one end lateral wall of lower casing 13, second ultrasonic sensor array 134 sets up on the other end lateral wall of lower casing 13, first ultrasonic sensor array 132 with charging electrode 133 is located same one side.

The first ultrasonic sensor array 132 includes a plurality of first ultrasonic sensors 1321, and the second ultrasonic sensor array 134 includes a plurality of second ultrasonic sensors 1341. The ultrasonic sensor is connected with the industrial personal computer 145 for communication, the real-time acquired running environment information is sent to the industrial personal computer 145, and the industrial personal computer 145 adjusts the advancing route of the jacking type AGV according to the running environment information based on the SLAM algorithm, so that the purpose of actively avoiding obstacles is achieved.

Further, referring to fig. 5-6, fig. 5 is a cross-sectional view of a jacking mechanism in an embodiment of the present invention, and fig. 6 is a bottom view of the jacking mechanism in an embodiment of the present invention.

Specifically, the jacking mechanism 143 includes a nut 1436, a lead screw 1434, a jacking supporting plate 1431, a jacking motor 1432, a connecting rod 1433 and a jacking mechanism supporting plate 1435, the jacking motor 1432 is fixedly connected to the bottom plate 14, the nut 1436 and the lead screw 1434 are disposed on the jacking motor 1432, the connecting rod 1433 is disposed on an outer wall of the nut 1433, the jacking supporting plate 1431 is disposed on the connecting rod 1433, an inner wall of the nut 1436 is provided with an internal thread structure, a surface of the lead screw 1434 is provided with an external thread structure, and the nut 1436 and the lead screw 1434 are in threaded fit with the external thread structure based on the internal thread structure.

It should be further noted that the jacking motor includes a jacking motor driver 14323, a first gear 14321, a second gear 1437 and a connecting plate 14322, the first gear 14321 is disposed on an output end of the jacking motor driver 14323, the second gear 1437 is engaged with the first gear 14321, the second gear 1437 is fixedly disposed on an outer wall of the lead screw 1434, when the jacking motor driver 14323 drives the first gear 14321, the second gear 1437 is driven to rotate, so as to cause the lead screw 1434 to rotate, the lead screw 1434 drives the nut 1436 to move up and down, so as to cause the connecting rod 1433 to drive the jacking plate 1431 to move up and down, so as to enable the jacking mechanism 143 to achieve the purpose of lifting the jacking plate 1431.

Here, the lift motor driver 14323 and the first gear 14321 are provided on the connection plate 14322, and the connection plate 14322 is connected to the lift mechanism support plate 1435, which is designed to support the lift mechanism 143 so that the lift mechanism 143 is fixed on the base plate 14.

Specifically, be provided with power supply unit 148 on bottom plate 14, power supply unit includes lithium cell 1481 and battery compartment 1482, lithium cell 1481 sets up in battery compartment 1482, battery compartment 1482 sets up on bottom plate 14 for provide the power for lift-type AGV.

Specifically, all be provided with universal wheel subassembly 146 on the four corners of bottom plate 14, the universal wheel subassembly includes universal wheel fixing base 1461 and universal wheel 1462, universal wheel fixing base 1461 is semi-enclosed cylinder, and the opening sets up downwards on the base 14, universal wheel 1462 sets up in the universal wheel fixing base 1461, universal wheel 1461 here is eccentric universal wheel, realizes that the formula of jacking AGV turns to nimble purpose.

Specifically, the base plate 14 is further provided with a driving device 147, the driving device 147 is divided into a first driving device 1471 and a second driving device 1472, the first driving device 1471 is arranged on one side of the base plate 14, and the second driving device 1471 is arranged on the other side of the base plate 14.

It should be noted that fig. 7 shows a schematic diagram of a driving apparatus in an embodiment of the present invention, and the driving apparatus 147 includes a driving wheel assembly 14711, a speed reducer 14712, and a driving wheel motor 14713, where one end of the speed reducer is connected to the driving wheel assembly 14711, and the other end is connected to the driving wheel motor 14713. The driving device can realize the steering and turning around of the jacking AGV through differential driving, and can also realize the purposes of advancing, retreating and zero-radius steering, so that the jacking AGV acts more flexibly.

Specifically, the drive wheel assembly 14711 includes a suspension assembly 147111 and a drive wheel 147112, and the drive wheel 147112 is disposed within the suspension assembly 147111.

Note that the suspension assembly 147111 includes a suspension mounting plate 1471111, a first suspension support plate 1471112, a second suspension support plate 1471113, and a slider 1471114, wherein: the suspension mounting plate 1471111 is connected at one end to the first suspension support plate 1471112 and at the other end to the second suspension support plate 1471113, the first suspension support plate 1471112 and the second suspension support plate 1471113 being disposed on the base plate 14 where the support plates secure the suspension assembly 147111 to the base plate 14; the carriages 1471114 are divided into a first carriage 14711141 and a second carriage 14711142; a driving wheel 147112 is arranged in the suspension mounting plate 1471111, one side of the driving wheel 147112 is provided with a first sliding seat 14711141, the other side of the driving wheel 147112 is provided with a second sliding seat 14711142, the first sliding seat 14711141 and the second sliding seat 14711142 are positioned under the suspension mounting plate 1471111, and the first sliding seat 14711141 and the second sliding seat 14711142 are connected based on a sliding seat connecting plate 14711143. The suspension assembly herein is spring slide style, which increases the ground self-adaptive capability of a lift AGV.

It should be noted that the sliding base 1471114 comprises a guide rod 14711144 and a spring rod 14711145, the guide rod 14711144 and the spring rod 14711145 are inserted into the sliding base 1471114, and the suspension mounting plate 1471111 is provided with a third cavity for accommodating the guide rod 14711144 and a fourth cavity for accommodating the spring rod 14711145, so as to achieve a shock-absorbing effect of the lift-type AGV; the top of the guide rod 14711144 is fixed in the third cavity and used for fixing the position of the sliding seat 1471114 to achieve the purpose of limiting.

The above detailed description is made on a lift-type AGV provided by the embodiment of the present invention, and the principle and the implementation of the present invention are explained by using a specific example, and the description of the above embodiment is only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. A lift-off AGV, comprising: automobile body, climbing mechanism, navigation head and industrial computer, wherein:

2. The lift AGV of claim 1 wherein said floor has a plurality of universal wheel assemblies uniformly distributed thereon.

3. The lift AGV of claim 1 wherein the upper shell has a fifth cavity that receives the lift pallet.

4. The lift AGV of claim 1 wherein the peripheral outer wall of the lower shell has a plurality of crash strips disposed thereon.

5. The lift AGV of claim 1 wherein the lower shell has a plurality of ultrasonic sensors arranged in an array on one side wall of the lower shell.

6. A raised AGV according to claim 1 wherein the floor also has a drive assembly including a drive wheel assembly, a speed reducer and a drive wheel motor, the speed reducer being connected at one end to the drive wheel assembly and at the other end to the drive wheel motor.

7. The lift AGV of claim 6 wherein said drive wheel assembly includes a suspension assembly and a drive wheel, said drive wheel being disposed within said suspension assembly.

8. The lift AGV of claim 7 wherein the suspension assembly includes a suspension mounting plate, a first suspension support plate, a second suspension support plate and a slide, wherein:

9. The lift AGV of claim 8, wherein said carriages are divided into a first carriage and a second carriage;

10. The lift AGV of claim 9 wherein the slide includes guide rods and spring rods, the slide having the guide rods and spring rods inserted therein, the suspension mounting plate having a third cavity to receive the guide rods and a fourth cavity to receive the spring rods, the guide rod tops being secured within the third cavity.