CN110626441A - Vibration reduction type intelligent unmanned transport vehicle and transport method thereof - Google Patents
Vibration reduction type intelligent unmanned transport vehicle and transport method thereof Download PDFInfo
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- CN110626441A CN110626441A CN201910816691.5A CN201910816691A CN110626441A CN 110626441 A CN110626441 A CN 110626441A CN 201910816691 A CN201910816691 A CN 201910816691A CN 110626441 A CN110626441 A CN 110626441A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K11/00—Arrangement in connection with cooling of propulsion units
- B60K11/06—Arrangement in connection with cooling of propulsion units with air cooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
- B62D24/04—Vehicle body mounted on resilient suspension for movement relative to the vehicle frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a vibration reduction type intelligent unmanned carrying vehicle and a carrying method thereof, wherein the vibration reduction type intelligent unmanned carrying vehicle comprises a vehicle body, a vibration reduction walking assembly and an electrical assembly, a spring is arranged between each guide rod and each vibration reduction assembly, a vibration reduction connecting rod is matched with each vibration reduction assembly in a vertical rotating mode, vibration reduction in the vertical and horizontal directions can be realized in the moving process, meanwhile, bumping caused by uneven roadside is buffered, the driving smoothness of the unmanned carrying vehicle is improved, vibration is reduced, the object on the unmanned carrying vehicle is effectively prevented from overturning, meanwhile, a heat dissipation assembly is arranged in an electrical box, the heat dissipation strength of a temperature adjusting fan is improved, the probability that the system collapses due to the heat dissipation problem is reduced, the unmanned carrying vehicle is in the best working state, and the working efficiency of the unmanned carrying vehicle is improved.
Description
Technical Field
The invention relates to vibration reduction type intelligent unmanned conveying vehicle equipment, in particular to a vibration reduction type intelligent unmanned conveying vehicle.
Background
With the continuous rise of labor cost, the optimization upgrading of warehouses or manufacturing plants, the improvement of product yield and the like, more and more enterprises are aware of the importance of flexible production.
The unmanned transport vehicle is used as a key device in a modern flexible manufacturing system and plays a role in linking the production process of the whole product. The unmanned carrier has the advantages of good adaptability, high flexibility degree, good reliability, integration and automation of production and carrying functions and the like.
Due to the limitation of the application environment of the unmanned carrying vehicle in the prior art, when the unmanned carrying vehicle moves and carries workpieces under the working condition of uneven road conditions, frequent vibration often occurs, the workpieces on the unmanned carrying vehicle overturn, and the carrying efficiency is reduced.
Disclosure of Invention
The purpose of the invention is as follows: a vibration reduction type intelligent unmanned transport vehicle and a transport method thereof are provided to solve the problems in the prior art.
The technical scheme is as follows: a vibration damping type intelligent unmanned transport vehicle and a transport method thereof comprise the following steps:
the vehicle body comprises a vehicle body, a transverse walking sensor assembly arranged on the vehicle body and positioned in the length direction of the vehicle body, a front walking sensor assembly and a rear walking sensor assembly positioned in the width direction of the vehicle body, and two groups of auxiliary walking assemblies and vibration damping walking assemblies which are arranged on the vehicle body and positioned at two ends of the length of the vehicle body in a diagonal manner;
and the electric assembly is arranged inside the vehicle body.
In a further example, the vibration-damping walking assembly comprises a fixed plate fixedly arranged on the vehicle body, a first slide rail fixedly arranged on the fixed plate, a second slide rail fixedly arranged on the fixed plate and forming an angle of 60 degrees with the first slide rail, a third slide rail fixedly arranged on the fixed plate and forming an angle of 60 degrees with the second slide rail, a first slide rail vertically and fixedly arranged on the fixed plate and positioned at the end parts of the first slide rail, the second slide rail and the third slide rail, the connecting plate is provided with a certain gap with the end parts of the first slide rail, the second slide rail and the third slide rail, the buffering and vibration damping assembly is arranged on the first slide rail, the second slide rail and the third slide rail in a sliding fit manner, the buffering and vibration damping assembly is arranged on the buffering and vibration damping assembly, the buffering and fixing plate is arranged on the buffering and vibration damping assembly, and the steering wheel is fixedly arranged on the buffering and fixing plate.
In a further example, the buffering and vibration damping assembly comprises two first sliding blocks arranged on the first sliding rail, the second sliding rail and the third sliding rail in a sliding fit manner, a fixed block fixedly arranged on the first sliding blocks, a locking plate fixedly arranged on the side face of the fixed block, a guide rod screwed on the locking plate, a vibration damping spring sleeved on the guide rod, and a vibration damping fixed seat, wherein one end of a vibration damping connecting rod in clearance fit with the fixed block is in clearance fit with the vibration damping connecting rod, and the bottom of the vibration damping fixed seat is fixedly connected with the buffering and fixing plate.
In a further example, the electrical assembly includes an electrical box disposed inside the body;
the electric box is internally provided with a controller, and a navigation module, a positioning module, a safe obstacle avoidance module, a wireless communication module, a human-computer interaction module and a motor driving module which are electrically connected with the controller respectively.
In a further example, the safety obstacle avoidance module comprises an infrared sensor arranged at the front end of the vehicle body, and a safety obstacle avoidance sensor arranged at the front end of the vehicle body and positioned below the infrared sensor;
the infrared sensor obstacle avoidance device adopts a PX-22 sensor, is provided with two sensing areas OUT1 and OUT2 with adjustable distance, can ensure the safety of people and objects or a vehicle body, and ensures the reliability of an effective area.
In a further example, automobile body front end and rear end are equipped with safety bumper respectively, can detect whether unmanned transport vehicle contacts with the foreign matter, can protect automobile body to carry out collision avoidance simultaneously.
In a further example, the side of the electrical box is provided with at least two heat dissipation devices;
the heat dissipation device comprises a hollow long shell arranged on a vehicle body, eight corners of the shell are uniformly designed into round corners, the hollow cylinder is arranged in the shell, at least 10 ventilation grooves with the gaps of 1-2mm are arranged on the cylinder, a groove plate which is connected to the ventilation grooves and has the same size with the ventilation grooves, a fan arranged at the end part of the cylinder, four silicone rubber pads arranged on the upper surface of the shell, a detachable baffle plate arranged at the other end of the cylinder, and a temperature sensor arranged below the fan;
temperature sensor with controller communication connection can reach the best radiating effect along with the power of temperature variation adjustment fan wind speed, and the baffle can effectually prevent that the dust from entering and convenient cleanness simultaneously.
In a further example, air outlet grooves which are consistent with the positions of the ventilation grooves and used for air outlet and are spaced at a certain distance are arranged on the shell;
the shell is made of graphite-based composite materials and can resist high temperature.
In a further example, a method of operating an automated guided vehicle, comprising the steps of:
s1; when the unmanned carrying vehicle carries workpieces, the steering wheel drives the unmanned carrying vehicle to move, the workpieces on the vehicle body are driven to move, and the navigation module, the positioning module, the safety obstacle avoidance module, the wireless communication module, the human-computer interaction module and the motor driving module which are connected with the controller are started at the same time and feed back the conditions in the carrying process to the controller in real time;
s2, when the automatic guided vehicle is in a continuous moving state, the first sliding block moves back and forth on the first sliding rail, the second sliding rail and the third sliding rail with small amplitude along with the amplitude of moving vibration, and then the buffering vibration attenuation component is driven to work;
s3, the first slide block acts at the moment, and then the fixed block fixedly connected with the first slide block and the first slide block are driven to synchronously move on the first slide rail, the second slide rail and the second slide rail, and the fixed block is linked with the locking plate fixedly connected with the fixed block, so that the damping spring sleeved on the guide rod is driven to work back and forth;
s4, the damping connecting rod which is connected with the fixed block in a clearance fit mode moves up and down along with the damping spring, and vibration of the carrier in moving is buffered;
s5, when the carrier is in operation, when the infrared sensor senses that a vehicle or a person passes through, and when the OUT2 area detects that the vehicle and the person pass through, the carrier adopts a speed reduction driving state; when the OUT1 area detects vehicle and personnel ingress, the automated guided vehicle stops immediately;
s6, the temperature sensor monitors the temperature inside the electric box in real time, when the temperature sensor detects that the temperature inside the electric box exceeds 30 ℃, a fan in the heat dissipation device is started, heat is dissipated through the fan and the ventilation groove, the heat dissipation intensity of the fan is adjusted through the temperature of the controller, and the unmanned transport vehicle is in the best working state;
and S7, the unmanned transport vehicle transports the workpiece to a terminal point, and the work is finished.
Has the advantages that: the invention discloses a vibration-damping intelligent unmanned transport vehicle, which is characterized in that a first slide rail, a second slide rail and a third slide rail are arranged on a fixing plate in a triangular shape, vibration-damping components are arranged on the first slide rail, the second slide rail and the third slide rail in a sliding fit manner, connecting plates are arranged at two ends of each slide rail, a guide rod penetrates through the connecting plates and is in threaded connection with the vibration-damping components, a spring is arranged between each guide rod and the vibration-damping components, a vibration-damping connecting rod is in vertical rotating fit with the vibration-damping components, vibration damping in vertical and horizontal directions can be realized in the moving process, jolts caused by uneven roadside are buffered, the driving smoothness of the unmanned transport vehicle is improved, the vibration is reduced, the overturning of objects on the unmanned transport vehicle is effectively prevented, and a heat-radiating component is arranged in an electric box, the cooling intensity of the temperature adjusting fan is reduced, the probability that the software system is broken down due to the cooling problem is reduced, the automatic guided vehicle is in the best working state, and the working efficiency of the automatic guided vehicle is improved.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a schematic structural view of the vibration damping walking assembly of the present invention.
Fig. 3 is a partially enlarged view of the shock absorbing assembly of the present invention.
Fig. 4 is a right side view of the present invention.
Fig. 5 is a functional block diagram of the present invention.
Fig. 6 is a schematic structural diagram of the heat dissipation device in the present invention.
The reference signs are: the device comprises a vehicle body 1, a transverse walking sensor component 2, a front and rear walking sensor component 3, an auxiliary walking component 4, a vibration damping walking component 5, an electrical component 6, a fixing plate 501, a first slide rail 502, a second slide rail 503, a third slide rail 504, a connecting plate 505, a vibration damping component 506, a steering wheel 507, a first slide block 508, a fixing block 509, a locking plate 510, a guide rod 511, a vibration damping spring 512, a vibration damping connecting rod 513, a vibration damping fixing seat 514, a vibration damping fixing seat 515, a controller 601, a navigation module 602, a positioning module 603, a safety obstacle avoidance module 604, a man-machine interaction module 605, a motor driving module 606, an infrared sensor 6041, a safety obstacle avoidance sensor 6042, a safety bumper 6043, a heat dissipation device 7, a cylinder 701, a ventilation groove 702, a groove plate 703, a fan 704, a silicone cushion 705, a temperature sensor 706, an air outlet groove 707.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Through applicant's research and analysis, prior art's unmanned transport vehicle, when carrying the object under the complicated and operating mode environment of jolting of road conditions, frequent vibration often appears, easily lead to tumbling the article above the transport vehicle, prior art's unmanned transport vehicle's service environment has certain limitation, the system heat dissipation of prior art's unmanned transport vehicle's control box adopts solitary fan to dispel the heat simultaneously, the work of fan continuation, easily arouse fan fatigue work, reduce the radiating efficiency, it is not enough to dispel the heat simultaneously, easily arouse the system to take place the breakdown. In view of these problems, the applicant has proposed a vibration damping type intelligent automated guided vehicle and a method for transporting the same, and the following embodiments are proposed.
As shown in fig. 1, the present invention discloses a vibration damping type intelligent automated guided vehicle and a method for transporting the same. One of them damping type intelligence unmanned transport vehicle includes automobile body 1, damping running gear 5 and electric component 6.
As shown in fig. 1 to 6, a vibration damping intelligent automated guided vehicle includes a vehicle body 1, a lateral travel sensor assembly 2, a front and rear travel sensor assembly 3, an auxiliary travel assembly 4, a vibration damping travel assembly 5, an electrical assembly 6, a fixing plate 501, a first slide rail 502, a second slide rail 503, a third slide rail 504, a connecting plate 505, a vibration damping buffer assembly 506, a steering wheel 507, a first slider 508, a fixing block 509, a locking plate 510, a guide rod 511, a vibration damping spring 512, a vibration damping connecting rod 513, a vibration damping fixing seat 514, a vibration damping fixing seat 515, a controller 601, a navigation module 602, a positioning module 603, a safety obstacle avoidance module 604, a man-machine interaction module 605, a motor driving module 606, an infrared sensor 6041, a safety obstacle avoidance sensor 6042, a safety bumper 6043, a heat dissipation device 7, a cylinder 701, a ventilation duct 702, a duct plate 703, a fan 704, a silicone rubber pad 705, a temperature sensor 706, a, An air outlet groove 707 and a shell 708.
Wherein the vehicle body 1 comprises a vehicle body 1, walking sensors are respectively arranged in the length direction and the width direction of the vehicle body 1 for omnibearing control and protection of the automated guided vehicle, a transverse walking sensor component 2 is arranged on the vehicle body 1 and positioned in the length direction of the vehicle body 1, a front walking sensor component 3 and a rear walking sensor component 3 are arranged on the vehicle body 1 and positioned in the width direction of the vehicle body 1, two groups of auxiliary walking components 4 are arranged at the bottom of the vehicle body 1 for the operating efficiency of the automated guided vehicle, the auxiliary walking components 4 are arranged at the bottom of the vehicle body 1, the two groups of auxiliary walking components 4 are diagonally arranged on the vehicle body 1, and a vibration reduction walking component 5 is arranged at the bottom of the vehicle body 1 for reducing the jolt of the automated guided vehicle in the moving process, the vibration reduction walking assembly 5 is fixedly installed on the body of the vehicle body 1, is arranged at the bottom of the body of the vehicle body 1 in a diagonal manner, is positioned on one side of auxiliary walking and is positioned on the same horizontal line with the auxiliary walking assembly 4, and the electric assembly 6 is arranged inside the body of the vehicle body 1.
As shown in fig. 2, the vibration damping walking assembly 5 includes a fixing plate 501, wherein the fixing plate 501 is fixedly mounted on the body of the vehicle body 1, a first slide rail 502 is fixedly mounted on the fixing plate 501, a second slide rail 503 is fixedly mounted on the fixing plate 501, an included angle between the second slide rail 503 and the first slide rail 502 is 60 degrees, a third slide rail 504 is fixedly mounted on the fixing plate 501, an included angle between the third slide rail 504 and the second slide rail 503 is 60 degrees, an included angle between the third slide rail 504 and the first slide rail 502 is 60 degrees, the lengths of the first slide rail 502, the second slide rail 503 and the third slide rail 504 mounted on the fixing plate 501 in a triangular structure are equal, so as to increase the structural stability thereof, appropriate gaps are provided at the end portions of the first slide rail 502, the second slide rail 503 and the third slide rail 504, and a connecting plate 505 is fixedly mounted on the fixing plate 501 and located on the first slide rail 502, the, Between the gaps of the second slide rail 503 and the third slide rail 504, in order to estimate and install the connecting plate 505 conveniently, a plurality of grooves are arranged on the fixing plate 501, and during installation, the connecting plate 505 only needs to be inserted into the grooves, so that the time for installing the connecting plate 505 by scribing is saved, and the installation efficiency is improved, the buffer vibration attenuation modules 506 are respectively arranged on the first slide rail 502, the second slide rail 503 and the third slide rail 504 in a sliding fit manner, in order to achieve better vibration attenuation effect and multidirectional starting of buffer vibration attenuation, two groups of buffer vibration attenuation modules 506 are arranged on the first slide rail 502, the second slide rail 503 and the third slide rail 504, the buffer fixing plate 501 is arranged on the buffer vibration attenuation modules 506, and the steering wheel 507 is arranged on the buffer fixing plate 501; the vehicle body 1 is driven by the steering wheel 507 to move left and right and front, when the vehicle works on uneven road conditions, the buffering vibration attenuation component 506 slides front, back, left and right on the first slide rail 502, the second slide rail 503 and the third slide rail 504 which are designed into a triangular structure to finely adjust jolts caused by uneven road conditions, and then objects on the vehicle body 1 are more stably carried out.
The first sliding blocks 508 are fixed and respectively arranged on the first sliding rail 502, the second sliding rail 503 and the third sliding rail 504 in a sliding fit manner, two first sliding blocks 508 are respectively arranged on the first sliding rail 502, the second sliding rail 503 and the third sliding rail 504, a fixed block 509 is fixedly arranged on the first sliding block 508, a locking plate 510 is fixedly arranged on the fixed block 509 and at the side position of the fixed block 509, a guide rod 511 is screwed on the locking plate 510, a vibration reduction spring 512 is sleeved on the guide rod 511, one end of each of two ends of the vibration reduction spring 512 is contacted with a connecting plate 505, the other end of each of two ends of the vibration reduction spring is contacted with the locking plate 510, one end of a vibration reduction connecting rod 513 is arranged on the fixed block 509 in a clearance fit manner, a vibration reduction fixed seat 514 is fixedly arranged on the buffer fixed plate 501, and the other end of the vibration reduction connecting rod 513 is in clearance fit with the vibration reduction; the first sliding block 508 slides back and forth on the first sliding rail 502, the second sliding rail 503 and the third sliding rail 504, so as to drive the fixed block 509 fixedly connected with the first sliding block 508 to work back and forth along with the first sliding block 508, and is linked with the locking plate 510 fixedly connected with the fixed block 509, because the guide rod 511 is connected with the locking plate 510 in a threaded manner, and the connecting plate 505 is fixed on the fixed plate 501, the connecting plate 505 is a fixed end, the first sliding block 508 drives the guide rod 511 to link back and forth along the horizontal direction of the first sliding rail 502, the second sliding rail 503 and the third sliding rail 504 under the action force of the damping spring 512, and simultaneously, because the damping connection is in clearance fit with one end of the two ends and the fixed seat, and the other end is in clearance fit with the buffer fixed seat 515, namely, the clearance fit is enough to indicate that the damping connecting rod 513 can, and then the vibration reduction spring 512 sleeved on the guide rod 511 is driven to work back and forth, and further the vibration reduction connecting rod 513 is driven to use the vibration reduction fixing seat 514 as a fixing end, and further the vibration reduction connecting rod 513 is driven to work up and down around the vibration reduction fixing seat 514 as the fixing end due to the left and right work of the vibration reduction spring 512, so that the work of simultaneously reducing vibration up and down and left and right is completed.
As shown in fig. 4 and 5, the electrical component 6 includes an electrical box, wherein the electrical box is disposed inside the body of the vehicle body 1, the controller 601 is mounted inside the electrical box, the navigation module 602 and the positioning module 603 are respectively electrically connected to the controller 601, and the navigation module 602 and the positioning module 603 are located at the left side of the controller 601, the safety obstacle avoidance module 604, the wireless communication module (not shown in the figures), and the human-computer interaction module 605 are electrically connected to the controller 601 and located on the right side of the controller 601, the motor driving module 606 is electrically connected to the controller 601 and located below the controller 601, the infrared sensor 6041 is disposed on the vehicle body 1 and located at the front end of the vehicle body 1, and the safety obstacle avoidance sensor 6042 is disposed at the front end of the vehicle body 1 and located below the infrared sensor 6041; safety bumpers 6043 are provided at the front and rear ends of the vehicle body 1;
the infrared sensor 6041 adopts a PX-22 sensor for obstacle avoidance, and is provided with two sensing areas OUT1 and OUT2 with adjustable distance; the controller 601 controls the modules to operate, meanwhile, each module feeds real-time states of work back to the controller 601, and further, the next working process of the controller 601 is realized, due to the fact that the current operation is performed, the surrounding environment is not smooth, machining equipment can be frequently swung, goods and other objects are piled, the objects can cause instability of the operation of the unmanned carrying vehicle, in addition, in the manufacturing site, the working personnel can go OUT and do not exist, when people or obstacles block the front of the vehicle, when collision avoidance protection is needed, in order to protect the self safety of the people, the objects or the vehicle, the PX-22 sensor is adopted for obstacle avoidance by the infrared sensor 6041, the special collision avoidance function is provided, two sensing areas OUT1 and OUT2 with adjustable distances are arranged at the same time, and an obstacle avoidance mode combining the infrared sensor 6041 and a safety bumper 6043 arranged at the front end of the vehicle body 1 is adopted, an infrared sensor 6041 detects whether an obstacle exists in front of a road in advance, a safety bumper 6043 detects whether an unmanned carrier is in contact with a foreign matter through a microswitch, when a person or a vehicle passes through an OUT2 area, the unmanned carrier takes a speed reduction measure, when a person or a vehicle passes through an OUT1 area, the unmanned carrier stops immediately, operates in time and stops to stop running so as to ensure the safety of a system and workers, except the infrared sensor, the safety of the workers and the unmanned carrier equipment is fully considered, the safety bumper 6043 (an anti-collision switch) is respectively installed at the front end and the rear end of the vehicle body 1, if infrared fails, the obstacle collides with the safety bumper 6043, the unmanned carrier also stops running, the circuit is prevented from being burnt OUT due to the fact that the current is too large due to motor stalling, and the safety of the system is ensured. And meanwhile, the restriction of the field environment and the running route of the unmanned carrying vehicle are not very wide, so that the wireless communication module is installed to facilitate the working personnel to know the running of the whole system in real time through remote monitoring, and the whole system is interconnected. Although the automatic guided vehicle is an automatic device, the automatic guided vehicle can achieve the functions of autonomous line patrol, motor driving and the like. However, as a handling apparatus with flexible operation, a human-computer interaction function is also required. Through man-machine interaction, on one hand, the input of basic instructions of the unmanned transport vehicle can be realized, wherein the basic instructions comprise action instructions such as starting point input, end point input, starting/stopping and the like; on the other hand, the state information of the automated guided vehicle body 1 can be directly displayed through a display part in the human-computer interaction module 605, so that an operator can conveniently monitor and know the running state of the automated guided vehicle in real time.
As shown in fig. 6, the heat dissipation device 7 is arranged inside an electrical box, for better heat dissipation efficiency, at least two heat dissipation devices 7 are arranged on the electrical box, the heat dissipation device 7 comprises a housing 708, the housing 708 is arranged on the upper surface of the body of the vehicle body 1, the housing 708 is designed to be hollow, eight corners of the housing 708 are uniformly designed to be round corners, a cylinder 701 is arranged inside the housing 708, the cylinder 701 is hollow, ventilation slots 702 are arranged on the cylinder 701, the clearance of the ventilation slots 702 is 1-2mm, at least 10 ventilation slots 702 are arranged on the cylinder 701, the slot plate 703 is connected on the ventilation slots 702, the size of the slot plate 703 is consistent with the size of the ventilation slots 702, a fan 704 is arranged at one end of the cylinder 701, a baffle is arranged at the other end of the cylinder 701, the silicone rubber pad 705 is arranged on the controller 601 and is connected with the controller 601 in a communication mode, and an air outlet groove 707 which is consistent with the position of the ventilation groove 702 and used for air outlet and has a certain distance is arranged on the shell 708; the shell 708 is made of graphite-based composite materials, can resist high temperature and is light-weight, the heat dissipation effect and the vibration reduction performance are improved, the temperature of the environment is detected through the temperature sensor 706, the wind speed of the fan 704 is adjusted along with the change of the temperature to achieve the heat dissipation effect, the vibration of the fan 704 is reduced through the silicone rubber pad 705, meanwhile, the baffle is arranged on the other side of the fan 704 to effectively reduce dust entering and facilitate cleaning, meanwhile, in order to prevent the fan 704 from being damaged by vibration to the controller 601, the shell 708 adopts the graphite-based composite materials as the shell 708 and the ventilation groove 702 to reduce vibration, the environment temperature is detected through the temperature sensor 706 and is transmitted to the controller 601, when the temperature reaches 30 ℃, the heat dissipation device 7 is started, but when the temperature is 30-50 ℃, the fan 704 dissipates heat slowly, when the temperature is higher than 50 ℃, the fan 704 starts the strong wind heat dissipation operation. And further, the intelligent heat dissipation efficiency is realized, so that the system is in the optimal working state.
In a further example, a method of operating an automated guided vehicle, comprising the steps of: when the unmanned transport vehicle carries workpieces, the steering wheel 507 drives the unmanned transport vehicle to move, the workpieces on the vehicle body 1 are further driven to move, and the navigation module 602, the positioning module 603, the safety obstacle avoidance module 604, the wireless communication module, the human-computer interaction module 605 and the motor driving module 606 which are connected with the controller 601 are started at the same time and feed back the conditions in the carrying process to the controller 601 in real time; when the automated guided vehicle is in a continuous moving state, the first slider 508 moves back and forth on the first slide rail 502, the second slide rail 503 and the third slide rail 504 with a small amplitude along with the amplitude of the moving vibration, and further drives the buffer damping assembly 506 to work; at this time, the first sliding block 508 acts to drive the fixed block 509 fixedly connected with the first sliding block 508 and the first sliding block 508 to synchronously move on the first sliding rail 502, the second sliding rail 503 and the second sliding rail 503, and is linked with the locking plate 510 fixedly connected with the fixed block 509, so as to drive the damping spring 512 sleeved on the guide rod 511 to work back and forth; at the moment, the damping connecting rod 513 connected with the fixed block 509 in a clearance fit mode moves up and down along with the damping spring 512, and vibration in the moving process of the carrying vehicle is further buffered; at the moment, when the carrier is in operation, when the infrared sensor senses that a vehicle or a person passes through the carrier, and when the OUT2 area detects that the vehicle and the person pass through the carrier, the carrier adopts a speed reduction driving state; when the OUT1 area detects vehicle and personnel ingress, the automated guided vehicle stops immediately; at the moment, the temperature sensor 706 monitors the temperature inside the electric box in real time, when the temperature sensor 706 detects that the temperature inside the electric box exceeds 30 ℃, the fan 704 in the heat dissipation device 7 is started, heat is dissipated through the fan 704 and the ventilation groove 702, the heat dissipation intensity of the fan 704 is adjusted through the temperature of the controller 601, and the unmanned transport vehicle is in the best working state; and the unmanned transport vehicle transports the workpiece to a terminal point, and the work is finished.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (9)
1. The utility model provides a damping type intelligence unmanned transport vehicle, characterized by includes:
the vehicle body comprises a vehicle body, a transverse walking sensor assembly arranged on the vehicle body and positioned in the length direction of the vehicle body, a front walking sensor assembly and a rear walking sensor assembly positioned in the width direction of the vehicle body, and two groups of auxiliary walking assemblies and vibration damping walking assemblies which are arranged on the vehicle body and positioned at two ends of the length of the vehicle body in a diagonal manner;
and the electric assembly is arranged inside the vehicle body.
2. The vibration-damping intelligent automated guided vehicle of claim 1, wherein: the vibration reduction walking assembly comprises a fixed plate fixedly mounted on the vehicle body, a first slide rail fixedly mounted on the fixed plate, a second slide rail fixedly mounted on the fixed plate and forming an angle of 60 degrees with the first slide rail, a third slide rail fixedly mounted on the fixed plate and forming an angle of 60 degrees with the second slide rail, a connecting plate vertically and fixedly mounted on the fixed plate, positioned at the end parts of the first slide rail, the second slide rail and the third slide rail and provided with a certain gap with the end parts of the first slide rail, the second slide rail and the third slide rail, a vibration reduction buffering assembly mounted on the first slide rail, the second slide rail and the third slide rail in a sliding fit manner, a vibration reduction fixed plate arranged on the vibration reduction assembly, and a steering wheel fixedly mounted on the vibration reduction fixed plate.
3. The vibration-damping intelligent automated guided vehicle of claim 2, wherein: the buffering vibration attenuation component comprises two first sliding blocks which are arranged on the first sliding rail, the second sliding rail and the third sliding rail in a sliding fit mode, a fixed block which is fixedly arranged on the first sliding blocks, a locking plate which is fixedly arranged on the side face of the fixed block, a guide rod which is in threaded connection with the locking plate, a vibration attenuation spring which is sleeved on the guide rod, a vibration attenuation connecting rod which is in clearance fit with the fixed block, and a vibration attenuation fixed seat which is in clearance fit with the vibration attenuation connecting rod and is fixedly connected with the buffering fixed plate at the bottom.
4. The vibration-damping intelligent automated guided vehicle of claim 1, wherein: the electrical assembly comprises an electrical box arranged inside the vehicle body;
the electric box is internally provided with a controller, and a navigation module, a positioning module, a safe obstacle avoidance module, a wireless communication module, a human-computer interaction module and a motor driving module which are in communication connection with the controller respectively.
5. The vibration-damped type intelligent automated guided vehicle according to claim 4, wherein: the safety obstacle avoidance module comprises an infrared sensor arranged at the front end of the vehicle body and a safety obstacle avoidance sensor arranged at the front end of the vehicle body and positioned below the infrared sensor;
the infrared sensor obstacle avoidance adopts a PX-22 sensor, and is provided with two sensing areas OUT1 and OUT2 with adjustable distance.
6. The vibration-damping intelligent automated guided vehicle of claim 1, wherein: and the front end and the rear end of the vehicle body are respectively provided with a safety bumper.
7. The vibration-damped type intelligent automated guided vehicle according to claim 4, wherein: the side surface of the electrical box is provided with at least two heat dissipation devices;
the heat dissipation device comprises a hollow long shell arranged on a vehicle body, eight corners of the shell are uniformly designed into round corners, the hollow cylinder is arranged in the shell, at least 10 ventilation grooves with the gaps of 1-2mm are arranged on the cylinder, a groove plate which is connected to the ventilation grooves and has the same size with the ventilation grooves, a fan arranged at the end part of the cylinder, four silicone rubber pads arranged on the upper surface of the shell, a detachable baffle plate arranged at the other end of the cylinder, and a temperature sensor arranged below the fan;
the temperature sensor is in communication connection with the controller.
8. The vibration-damped type intelligent automated guided vehicle according to claim 7, wherein: air outlet grooves which are consistent with the positions of the ventilation grooves and used for air outlet and are spaced at a certain distance are arranged on the shell;
the shell is made of graphite-based composite materials.
9. A working method of a vibration reduction type intelligent unmanned conveying vehicle is characterized by comprising the following steps:
s1; when the unmanned carrying vehicle carries workpieces, the steering wheel drives the unmanned carrying vehicle to move, the workpieces on the vehicle body are driven to move, and the navigation module, the positioning module, the safety obstacle avoidance module, the wireless communication module, the human-computer interaction module and the motor driving module which are connected with the controller are started at the same time and feed back the conditions in the carrying process to the controller in real time;
s2, when the automatic guided vehicle is in a continuous moving state, the first sliding block moves back and forth on the first sliding rail, the second sliding rail and the third sliding rail with small amplitude along with the amplitude of moving vibration, and then the buffering vibration attenuation component is driven to work;
s3, the first slide block acts at the moment, and then the fixed block fixedly connected with the first slide block and the first slide block are driven to synchronously move on the first slide rail, the second slide rail and the second slide rail, and the fixed block is linked with the locking plate fixedly connected with the fixed block, so that the damping spring sleeved on the guide rod is driven to work back and forth;
s4, the damping connecting rod which is connected with the fixed block in a clearance fit mode moves up and down along with the damping spring, and vibration of the carrier in moving is buffered;
s5, when the carrier is in operation, when the infrared sensor senses that a vehicle or a person passes through, and when the OUT2 area detects that the vehicle and the person pass through, the carrier adopts a speed reduction driving state; when the OUT1 area detects vehicle and personnel ingress, the automated guided vehicle stops immediately;
s6, the temperature sensor monitors the temperature inside the electric box in real time, when the temperature sensor detects that the temperature inside the electric box exceeds 30 ℃, a fan in the heat dissipation device is started, heat is dissipated through the fan and the ventilation groove, the heat dissipation intensity of the fan is adjusted through the temperature of the controller, and the unmanned transport vehicle is in the best working state;
and S7, the unmanned transport vehicle transports the workpiece to a terminal point, and the work is finished.
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