CN109515555A

CN109515555A - A kind of drum-type automated guided vehicle

Info

Publication number: CN109515555A
Application number: CN201811606738.7A
Authority: CN
Inventors: 胡松; 徐俊; 曹雏清; 高云峰
Original assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Current assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2019-03-26

Abstract

The invention discloses a roller-type automatic guided transport vehicle, which comprises a vehicle body, a roller mechanism, and a vehicle body driving mechanism. The roller mechanism is arranged on the vehicle body, and the vehicle body driving mechanism is arranged under the roller mechanism and Placed in the car body, the front end of the car body is provided with an anti-collision mechanism. The present invention adopts the above structure and has the following advantages: 1. The present invention adopts a hinged suspension, which reduces the height of the vehicle, and the adhesion between the driving wheel and the ground can be adjusted; 2. The present invention is equipped with an electric roller to drag the driven roller, The structural space of the roller drive unit is saved, and its dynamic performance fully meets the use of light-load industries such as 3C; 3. The present invention has a simple structure, strong bearing capacity, and is easy to install and maintain, and overcomes the space and energy waste of the existing roller AGV Technical defects.

Description

A kind of drum-type automated guided vehicle

Technical field

The present invention relates to automated guided vehicle technical field, in particular to a kind of drum-type automated guided vehicle.

Background technique

AGV is the abbreviation of automated guided vehicle, i.e., can be along regulation equipped with homing guidances devices such as electromagnetism or photoelectricity Guide path automatic running, have programming and mode selector, safeguard protection and various transfer functions transfer robot. AGV has the characteristics that high degree of automation, safe and flexible.

In recent years, with the development of the society, the raising of labor cost, factories in China start towards material flows automation, stand The development of body warehouse field, therefore the demand of roller AGV increasingly increases.But existing market roller AGV, structure is complicated, the scope of application It is narrow, it at 3C industrial application end, is limited by logistics space in factory, the larger AGV of volume can not often be put to good use, while carry the weight of object Also relatively lighter, it be easy to cause wasting one's talent on a petty job for AGV.

The Chinese patent of application number 201720988534.9 discloses a kind of " omni-directional wheel roller bears type AGV ", can realize The Omni-mobile of AGV, but its structure is complex, and size is larger, is not suitable for 3C industry, while its single wheel damping modes for using, Fixed four-wheel mounting means is adjusted in three wheels, ground complexity in the case where, it is difficult to ensure that four wheel have with ground it is good Good adhesive force, i.e. individual wheels skid, and increase control difficulty；The Chinese patent of application number 201621412606.7 discloses one kind " drum-type AGV device " realizes easily handling goods, reduces labor intensity, but its structure is complex, useless volumetric spaces More, 3C industry is not applicable；The Chinese patent of application number 201621164080.5 discloses a kind of " double equipped with roller docking platform To AGV ", by being arranged car body driving mechanism in headstock, to reduce the body height of roller docking platform, but its car body Outer dimension is big, if being used in 3C industry, space waste is serious, i.e., not applicable.

Summary of the invention

The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide kind of a drum-type homing guidance fortune Defeated vehicle, to achieve the purpose that compact-sized, saving space, adjustable driving wheel and traction.

In order to solve the above technical problems, the technical scheme is that a kind of drum-type automated guided vehicle, including vehicle Ontology, cylinder mechanism, car body driving mechanism, the cylinder mechanism are arranged on vehicle ontology, and the car body driving mechanism is set It sets and is placed in vehicle ontology below cylinder mechanism, the front end of the vehicle ontology is equipped with anticollision mechanism.

The cylinder mechanism includes pedestal, multiple rollers, the roller cage that pedestal both ends are arranged in, is arranged in roller Roller leading truck above support frame, the bracket cover sheet being arranged in above roller leading truck, described roller one end and bottom The roller cage connection of seat one end, the roller other end connect with another roller cage of the pedestal other end, set between roller There is gap.

The car body driving mechanism includes driving wheel, driving motor, motor mounting rack, upper ear seat, lower ear base, guiding Axis, pressing plate, compressed spring, the lower ear base are connect with vehicle ontology, the upper ear seat be arranged in the top of lower ear base and with Lower ear base is hinged, and the motor mounting rack is connect with driving motor, and one end of motor mounting rack is connect with upper ear seat, motor peace The other end shelved is adjustable side, is socketed on the guiding axis, the adjustable side of motor mounting rack is arranged in the pressing plate Top, the pressing plate is socketed on guiding axis, and the compressed spring is socketed on guiding axis, and compressed spring one end with The adjustable side of pressing plate connection, the compressed spring other end and motor mounting rack connects, and the guiding axis lower part is connect with vehicle ontology, The top of guiding axis is connect by screw thread pair with adjusting nut, and the adjusting nut is pressed on the pressing plate, the driving Wheel is connect with driving motor output shaft.

The car body driving mechanism is two, is symmetricly set in vehicle ontology.

The anticollision mechanism includes the anticollision strip that vehicle ontology front end end wall lower part is arranged in, is arranged in above anticollision strip Avoidance laser radar.

Distribution table is equipped with driven wheel in the bottom four corners of the vehicle ontology.

The vehicle ontology front end is equipped with end wall, and the end wall back is equipped with back shroud.

The end wall of the front end of the vehicle ontology is equipped with status lamp, control button, antenna, display screen.

The side wall of the vehicle ontology is equipped with loudspeaker, and the tail end of the vehicle ontology is equipped with battery module.

The present invention using the above structure, has the advantage that the 1, present invention is hung using a kind of hinge type, it is high to reduce vehicle Degree, and driving wheel and the adhesive force on ground are adjustable；2, the present invention drags driven roller with motorized roller, saves roller driving unit Structure space, and its power performance fully meet 3C etc. underloading industry use；3, the configuration of the present invention is simple, bearing capacity compared with By force, it and installs, is easy to maintain, overcoming the technological deficiency in the space existing roller AGV, energy dissipation.

Detailed description of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments；

Fig. 1 is the structural diagram of the present invention；

Fig. 2 is that car body driving mechanism is arranged in the intrinsic structural schematic diagram of vehicle in the present invention；

Fig. 3 is the structural schematic diagram of car body driving mechanism in the present invention；

Fig. 4 is the structural schematic diagram of cylinder mechanism in the present invention；

In FIG. 1 to FIG. 4,1, Che Benti, 11, anticollision strip, 12, avoidance laser radar, 13, status lamp, 14, loudspeaker, 15, back shroud, 2, cylinder mechanism, 21, pedestal, 22, roller cage, 23, roller leading truck, 24, bracket cover sheet, 25, Roller, 3, car body driving mechanism, 31, driving wheel, 32, driving motor, 33, motor mounting rack, 34, upper ear seat, 35, lower ear base, 36, guiding axis, 37, pressing plate, 38, compressed spring, 39, adjustable side, 4, driven wheel, 5, battery module.

Specific embodiment

A kind of drum-type automated guided vehicle (AGV) as shown in Figure 1 to 4, including vehicle ontology 1, cylinder mechanism 2, vehicle Body driving mechanism 3, cylinder mechanism 2 are arranged on vehicle ontology 1, and the setting of car body driving mechanism 3 is placed in vehicle below cylinder mechanism 2 In ontology 1, the front end of Che Benti 1 is equipped with anticollision mechanism.The present invention is Miniature roll formula automated guided vehicle.

Cylinder mechanism 2 exists including pedestal 21, multiple rollers 25, the roller cage 22 that 21 both ends of pedestal are arranged in, setting The roller leading truck 23 of 22 top of roller cage, the bracket cover sheet 24 that 23 top of roller leading truck is set, roller 25 One end is connect with the roller cage 22 of 21 one end of pedestal, another roller cage of 25 other end of roller and 21 other end of pedestal 22 connect, and gap is equipped between roller 25.Roller 25 can according to the size and weight of cargo, carry out cylinder number, power etc. into Row type selecting, roller 25 are used for the transport of AGV interface object.Pedestal 21 is formed by square tube and iron sheet welding.Roller cage 22 It plays a supportive role to roller 25.Roller leading truck 23 play the guiding role to freight disengaging.Bracket cover sheet 24 is used for Protect the electric elements such as roller route and optoelectronic switch.

Car body driving mechanism 3 include driving wheel 31, driving motor 32, motor mounting rack 33, upper ear seat 34, lower ear base 35, Guiding axis 36, pressing plate 37, compressed spring 38, lower ear base 35 are connect with vehicle ontology 1, and the top of lower ear base 35 is arranged in upper ear seat 34 And it is hinged with lower ear base 35, motor mounting rack 33 is connect with driving motor 32, and one end of motor mounting rack 33 and upper ear seat 34 connect It connects, the other end of motor mounting rack 33 is adjustable side 39, is socketed on guiding axis 36, motor mounting rack 33 is arranged in pressing plate 37 The top of adjustable side 39, pressing plate 37 are socketed on guiding axis 36, and compressed spring 38 is socketed on guiding axis 36, and compressed spring 38 One end is connect with pressing plate 37, and 38 other end of compressed spring is connect with the adjustable side 39 of motor mounting rack 33,36 lower part of guiding axis with Vehicle ontology 1 connects, and the top of guiding axis 36 is connect by screw thread pair with adjusting nut, and adjusting nut is pressed on pressing plate 37, driving Wheel 31 exports axis connection with driving motor 32.The decrement of compressed spring 38 can be by guiding axis 36, adjusting nut and pressing plate 37 1 With adjusting, for increaseing or decreasing the pressure downward to motor mounting rack 33, and then driving wheel 31 and ground are increasedd or decreased Adhesive force；Driving wheel 31 is consolidated by key and jackscrew and 32 output shaft of driving motor.

Contain a motorized roller in multiple rollers 25, is connected by V-ribbed belt and drive other drum movements.Car body driving Mechanism 3 is two, is symmetricly set in vehicle ontology 1.Anticollision mechanism includes the anticollision strip that 1 front end end wall lower part of vehicle ontology is arranged in 11, the avoidance laser radar 12 of 11 top of anticollision strip is set.Anticollision strip 11 is used to carry out secondary protection, avoidance laser to car body Radar 12 is used to carry out first time protection, fast response time to car body.Distribution table is equipped with driven wheel in the bottom four corners of vehicle ontology 1 4.1 front end of vehicle ontology is equipped with end wall, and end wall back is equipped with back shroud 15, plays detachable maintenance dustproof effect.The front end of vehicle ontology 1 End wall be equipped with status lamp 13, control button, antenna, display screen, for show AGV operating status, publication control instruction, connect Collection of letters number etc..The side wall of vehicle ontology 1 is equipped with loudspeaker 14, and the tail end of Che Benti 1 is equipped with battery module 5, by bolt to it It is constrained, for providing energy to AGV.

In the use of the present invention, adjusting the compressed spring in car body driving mechanism 3 according to the weight of entire AGV and load 38, so that car body driving mechanism 3 is met requirement, connects electric wiring and debugged software, so that route of the AGV along planning Each website is advanced to, cargo is carried out with each website and docks, complete work.

The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way Limitation, as long as using the various improvement that technical solution of the present invention carries out, or not improved directly apply to other occasions , it is within the scope of the present invention.

Claims

1. A drum-type automatic guided transport vehicle, characterized in that: it comprises a car body, a drum mechanism, and a car body driving mechanism, and the described roller mechanism is arranged on the car body, and the described car body driving mechanism is arranged on the roller mechanism The lower part is placed in the car body, and the front end of the car body is provided with an anti-collision mechanism.

2. A roller-type automatic guided transport vehicle according to claim 1, characterized in that: the roller mechanism includes a base, a plurality of rollers, a roller support frame arranged at both ends of the base, and a roller support frame arranged above the roller support frame The roller guide frame, the bracket protection cover set above the roller guide frame, one end of the roller is connected with the roller support frame at one end of the base, the other end of the roller is connected with another roller support frame at the other end of the base, and the rollers are provided with There is a gap.

3. A roller-type automatic guided transport vehicle according to claim 1 or 2, characterized in that: the vehicle body driving mechanism includes a driving wheel, a driving motor, a motor mounting frame, an upper ear seat, and a lower ear seat , guide shaft, pressure plate, compression spring, the lower ear seat is connected with the car body, the upper ear seat is arranged above the lower ear seat and hinged with the lower ear seat, the motor mounting frame is connected with the drive motor, One end of the motor mounting frame is connected to the upper lug seat, the other end of the motor mounting frame is the adjustment end, which is sleeved on the guide shaft, the pressure plate is arranged above the adjustment end of the motor mounting frame, and the pressure plate sleeve Connected to the guide shaft, the compression spring is sleeved on the guide shaft, and one end of the compression spring is connected to the pressure plate, the other end of the compression spring is connected to the adjustment end of the motor mounting bracket, and the lower part of the guide shaft is connected to the car body. The upper part of the guide shaft is connected with the adjusting nut through a thread pair, the adjusting nut is pressed against the pressing plate, and the driving wheel is connected with the output shaft of the driving motor.

4. A roller automatic guide transport vehicle according to claim 3, characterized by: the car body driver mechanism is two, symmetrically set in the car body.

5. A roller automatic guide transport vehicle according to claim 1, characterized by: The anti -collision institution that is set at the lower end of the front end of the car body, the anti -collision bar, set up above the collision anti -anti -collision bar Capital avoidance laser radar.

6. A roller-type automatic guided transport vehicle according to claim 1, characterized in that: driven wheels are arranged on the four corners of the bottom of the vehicle body.

7. A roller-type automatic guided transport vehicle according to claim 1, characterized in that: the front end of the vehicle body is provided with an end wall, and the back of the end wall is provided with a rear cover.

8. A roller-type automatic guided transport vehicle according to claim 1, characterized in that: the end wall of the front end of the vehicle body is provided with a status light, a control button, an antenna, and a display screen.

9. A roller-type automatic guided transport vehicle according to claim 1, characterized in that: a speaker is provided on the side wall of the vehicle body, and a battery module is provided at the rear end of the vehicle body.