CN209479801U - A kind of towed single two-way AGV of drive - Google Patents

Abstract

The utility model provides a kind of towed single two-way AGV of drive, including chassis and driving device, is respectively provided with a set of traction pin assembly at the both ends on chassis；The buffering of traction pin assembly is provided by the first gas spring；A set of driving device is respectively provided in the two sides on chassis, driving device includes upper shock-proof seat, lower shock-proof seat, hinged seat and the second gas spring, hinged seat is located on chassis, the side of lower shock-proof seat and hinged seat are hinged, the other side of lower shock-proof seat is connected by the second gas spring with upper shock-proof seat, arrangement above, after the both ends on chassis are respectively provided with a set of traction pin assembly, two towing pins can generate the active force of opposite direction to truck when turning, truck can laterally be twisted, the direction of travel for quickly changing truck, reduces turning radius；Gas spring rebound speed relatively slowly, the elastic curve with near-linear, dynamic force change less, be easy to control, can effectively promote the stability of AGV trolley.

Description

A kind of towed single two-way AGV of drive

Technical field

The utility model relates to AGV technical fields, and in particular to a kind of towed single two-way AGV of drive.

Background technique

AGV is the abbreviation of (Automated Guided Vehicle), i.e., " automated guided vehicle ", refers to equipped with electricity Magnetically or optically equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and various transfer function The transport vehicle of energy.In production, Chang Liyong AGV vehicle carries out the transport of part, material, cargo etc..Make in production and transport at present The AGV material transport vehicle used, it is main to drive AGV to move on the ground by driving device, but since ground is not reason The horizontal plane thought, the small car body of AGV will appear vibration at runtime, in order to reduce vibration, can generally be arranged in driving device and subtract Shake spring, and such as application No. is 201520420666.2, authorized announcement date is discloses one in the patent document of 2015.10.28 Kind AGV transport device, is equipped with shock-proof spring between lower shock-proof seat and upper shock-proof seat, and this spring is helical spring, spiral The rebound velocity of spring is fast, dynamic force change is big, and can spring back back and forth repeatedly, is unfavorable for the steady of AGV trolley during transportation It is fixed；In addition, using traction pin assembly connection between the transport vehicle that AGV trolley and needs drive, and generally use a set of towing pin Device, however the big problem of turning radius will appear using a set of traction pin assembly, in the small workshop of area, AGV trolley is answered It is limited with will receive；In addition AGV trolley is possible to fortuitous event occur and completely de- path of the magnetic biasing from setting at runtime, than Such as shock of other object, and present AGV trolley can not be recovered voluntarily after completely de- magnetic biasing is from the path of setting.

Summary of the invention

To solve problems of the prior art, the utility model provides a kind of towed single two-way AGV of drive, is promoted Accuracy when stationarity and towing pin when AGV trolley travelling are mobile.

The towed single two-way AGV of drive of one kind that achieve the above purpose, the technical solution of the present invention is:, including chassis, Pin assembly and driving device are drawn, a set of traction pin assembly is respectively set along the both ends of the direction of travel of AGV in the upper surface on chassis； Drawing pin assembly includes the traction pin support being located on chassis, is equipped with towing pin motor, towing pin in the side wall of traction pin support The output shaft of motor extend into towing pin internal stent, and the output shaft of towing pin motor is equipped with drive disk, deviates in drive disk It drives the position of disk center to be equipped with driven roller, is equipped with traction guide in the top vertical of traction pin support, it is sliding in traction guide It is equipped with towing pin dynamicly, is equipped with driving plate in the bottom of towing pin, driving plate is located at the lower section of driven roller, in towing pin and chassis Between be equipped with the first gas spring；It is located to be provided on the opposite side of towing pin motor in traction pin support and is equipped with vertical direction Waist type groove；It is equipped with the driving lever across waist type groove in driving plate, bearing is equipped on driving lever；One is respectively provided in the two sides of waist type groove A limit switch, two limit switches have difference in height in the vertical direction；Perpendicular to the left and right two of AGV direction of travel on chassis Side is respectively provided with a set of driving device, and driving device includes upper shock-proof seat, lower shock-proof seat, hinged seat and the second gas spring, hinged seat It is located on chassis, the side of lower shock-proof seat and hinged seat are hinged, and the other side of lower shock-proof seat passes through the second gas spring and upper shock-absorbing Seat is connected.

Arrangement above is respectively provided with a set of traction pin assembly along the both ends of the direction of travel of AGV in the upper surface on chassis, is setting When setting a set of traction pin assembly, only one power resources of trailed truck, truck can only be walked in tow, and be provided with two sets After drawing pin assembly, two towing pins can generate the active force of opposite direction to truck when turning, can laterally twist truck, fastly Speed changes the direction of travel of truck, reduces turning radius；Driving lever, bearing and limit switch are set, and bearing can be by driving lever and limit Sliding friction between switch is transformed into rolling friction, improves the service life of driving lever and limit switch；Two with difference in height A limit switch can control the height of towing pin promotion, prevent towing pin motor from driving towing pin by truck in the event of a failure It jacks up, damages truck and AGV trolley；The characteristics of gas spring is that resistance changes with the variation of movement velocity, and speed is relatively slow Slowly, gas spring has the elastic curve of near-linear, and dynamic force change is little, is easy to control, and is applied to Shi Youdian on AGV trolley Obviously show, i.e., when pitch occurs in AGV trolley, gas spring can make appropriate anti-according to the magnitude of vibrations that wheel transmits It answers, overcomes the nonlinear Flexible change characteristic of normal spiral spring, reduction is vibrated back and forth, after two sets of traction pin assemblies of arranging in pairs or groups, root According to the differential ratio for needing to be arranged driving wheel, the turning radius of AGV trolley can be reduced, can effectively promote the stability of AGV trolley；Separately Outside since the movement velocity of gas spring is gentle, the uniform force of driving motor and towing pin motor can effectively keep driving motor Precision, the service life of extension driving motor and towing pin motor with towing pin motor.

Further, it is equipped with bottom plate in the bottom of traction pin support, pedestal is equipped on bottom plate, installation is equipped on pedestal Hole is equipped with the internal thread hole coaxial with towing pin in the bottom of mounting hole, and the cylinder base of first gas spring is equipped with screw rod, In the cylinder body insertion fixation hole of first gas spring, spiral shell is screwed into internal thread hole, arrangement above, and the first gas spring can be securely fixed In traction pin support, fixation hole and towing pin are coaxially disposed, after the first gas spring is mounted in fixation hole, the first gas spring with Towing pin concentricity is high, then friction of the towing pin when moving up and down between traction guide is small, can effectively extend towing pin, lead Draw the service life of guide and the first gas spring.

Further, it is equipped with shell on chassis, is equipped with automatic charging piecing devices, automatic charging connector dress on the shell It sets including insulation board and electrode plate, insulation board is set on the shell and through shell, and electrode plate, which is located on insulation board, is pierced by shell one Automatic charging piecing devices are arranged in side, in AGV trolley not enough power supply, by the control of PLC controller, and the automatic row of AGV trolley It proceeds at charging pile, the charging head of charging pile is docked with automatic charging piecing devices, is charged to AGV trolley, and it is small to improve AGV The degree of automation of vehicle.

Further, it is equipped with control panel on the shell, control panel is equipped with wireless communication module, power knob, opens Dynamic button, scram button and combined aural and visual alarm, pass through the wireless communication module on control panel, power knob, start button, urgency Stop button and the various states of AGV trolley itself may be implemented in combined aural and visual alarm control and instruction and this TV station AGV trolley are the same as other AGV trolley between communication.

Further, more than one battery case is set in the bottom surface on chassis, battery is set in battery case；In undersurface of bottom disc Both ends are respectively provided with two universal wheels；In undersurface of bottom disc and the both ends that are located at direction of travel are respectively provided with one and seek Magnetic Sensor；The bottom of at Try to get to the heart of a matter face center be equipped with RFID sensor；It is equipped with PLC controller in the top surface on chassis, the setting of the above sensor may be implemented Accurate positionin of the AGV trolley in workshop；PLC controller and traction pin assembly, driving device, battery, automatic charging connector fill It sets and all sensors is electrically connected, realize the control to AGV trolley.

Further, an obstacle avoidance sensor, obstacle avoidance sensor energy are respectively provided with positioned at the both ends of direction of travel on the shell The barrier in front of when AGV trolley is advanced is detected, prevents from colliding, protects AGV trolley.

Further, it is equipped with cover board at the top of shell, more than one knob hole is equipped on the cover board, at the bottom of cover board Face is equipped with the shell that projected area on the cover board is greater than knob hole sectional area, and the section in hole of shaking hands is located at shell on the cover board In perspective plane, arrangement above, cover board plays the role of protecting AGV car interior components, and the setting in hole of shaking hands can be convenient peace Assembly and disassembly cover board, and mobile AGV trolley, the setting of shell can prevent hand from touching when protruding into AGV car interior manually Internal components, in order to avoid safety accident and damage AGV trolley are caused, and it is small to prevent sundries from falling into AGV from knob hole It is interior.

Further, it is equipped with criss-cross reinforcing rib in the bottom surface of cover board, reinforcing rib can enhance the intensity of cover board, more preferably Protect AGV trolley in ground.

Further, the driving device further includes driving motor, gear reducer and driving wheel, the output shaft of driving motor with The input shaft of speed reducer is connected, and driving wheel is mounted on the output shaft of speed reducer, and speed reducer is connected with the side of lower shock-proof seat, drives Driving wheel is located in lower shock-proof seat, and the above structure constitutes the basic structure of driving device, by the control of PLC controller, two Driving motor rotating Vortex can realize moving forward and backward for AGV trolley, and two driving motor differential speed rotations can realize AGV trolley It turns to.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the structural schematic diagram at another visual angle of the utility model；

Fig. 3 is the structural decomposition diagram of the utility model；

Fig. 4 is the structural schematic diagram that pin assembly is drawn in the utility model；

Fig. 5 is the top view that pin assembly is drawn in the utility model；

Fig. 6 is the face A-A cross-sectional view in Fig. 5；

Fig. 7 is the structural schematic diagram of driving device in the utility model；

Fig. 8 is enlarged drawing at B in Fig. 3；

Fig. 9 is the structural schematic diagram of the utility model cover plate；

Figure 10 is the flow chart of AGV control method in the utility model.

Specific embodiment

The utility model is described in further details with reference to the accompanying drawings and detailed description.

As shown in Figures 1 to 9, it is a kind of it is towed it is single drive two-way AGV, including chassis 1, chassis 1 upper surface along AGV's The both ends of direction of travel are respectively provided with a set of traction pin assembly 2, and traction pin assembly 2 includes being located at the One On The Chassis traction pin support 21, It is equipped with towing pin motor 22 in the side wall of traction pin support 21, the output shaft of towing pin motor 22 is extend into traction pin support 21 The output shaft in portion, towing pin motor 22 is equipped with drive disk 23, is equipped with and drives in the position that drive disk 23 deviates 23 center of drive disk Dynamic roller 24 is equipped with traction guide 25 in the top vertical of traction pin support 21, is slidably equipped with towing pin in traction guide 25 26, it is equipped with the counterbore extended to top in the bottom surface of towing pin 26, is equipped with driving plate 27, driving plate 27 in the bottom of towing pin 26 It is located at the lower section of driven roller 24, bottom plate 210 is equipped in the bottom of traction pin support 21, pedestal 211 is equipped on bottom plate 210, Pedestal 211 is equipped with mounting hole 2110, is equipped with the internal thread hole coaxial with towing pin 26 in the bottom of mounting hole 2110, is installing It is equipped with the first gas spring 28 in hole 2110, is equipped with screw rod in the cylinder base of the first gas spring 28, screw rod is screwed into internal thread hole, The push rod of first gas spring 28 protrudes into the counterbore of 26 bottom of towing pin.

It is located in traction pin support 21 and is provided with the waist type groove for being equipped with vertical direction on the opposite side of towing pin motor 22 29；It is equipped with the driving lever 210 across waist type groove 29 in driving plate 27, bearing 211 is equipped on driving lever 210；In waist type groove 29 Two sides are respectively provided with a limit switch 212, and two limit switches 212 have difference in height in the vertical direction, due to the first gas spring 28 movement velocity is gentle, the uniform force of towing pin motor 22, can effectively keep the precision of towing pin motor 22, extend traction Sell the service life of motor 22.

Two sides on chassis 1 perpendicular to AGV direction of travel are respectively provided with a set of driving device 3, and driving device 3 includes above keeping away Shake seat 31, lower shock-proof seat 32, hinged seat 33 and the second gas spring 34, hinged seat 33 are located on chassis, the side of lower shock-proof seat 32 Hinged with hinged seat 33, the other side of lower shock-proof seat 32 is connected by the second gas spring 34 with upper shock-proof seat 31, and driving device is also Including driving motor 35, speed reducer 36 and driving wheel 37, the output shaft of driving motor 35 is connected with the input shaft of speed reducer 36, drives Driving wheel 37 is mounted on the output shaft of speed reducer 36, and speed reducer 36 is connected with the side of lower shock-proof seat 32, and driving wheel 37 is located at down In shock-proof seat 32.

Two sets traction pin assemblies 2 are set, and two towing pins 26 understand the active force to truck generation opposite direction when turning, i.e., Truck can be laterally twisted, the direction of travel of truck is changed；First gas spring 28 and the second gas spring 34 can run in AGV trolley It winnows with a dustpan when vibrating, reaction appropriate is made according to the magnitude of vibrations that wheel transmits, the nonlinear elasticity of normal spiral spring is overcome to become Change characteristic, reduction is vibrated back and forth, arranges in pairs or groups after two sets of traction pin assemblies 2, the differential ratio of driving motor 35 is set as needed, can contract The turning radius of small AGV trolley can effectively promote the stability of AGV trolley；It is gentle additionally, due to the movement velocity of gas spring, it drives The uniform force of dynamic motor 35 and towing pin motor 22, can effectively keep the precision of driving motor 35 and towing pin motor 22, prolong The service life of long driving motor 35 and towing pin motor 22.

It is equipped with shell 4 on chassis 1, automatic charging piecing devices are equipped on shell 4, automatic charging piecing devices include Insulation board 511 and positive and negative two electrode plate 512, insulation board 511 are located on shell 4 and through shells 4, and electrode plate 512 is located at absolutely 4 side of shell is pierced by listrium 511, when AGV trolley not enough power supply, by the control of PLC controller, the automatic row of AGV trolley It proceeds at charging pile, the charging head of charging pile is docked with automatic charging piecing devices, is charged to AGV trolley, and it is small to improve AGV The degree of automation of vehicle.

Control panel 6 is equipped on shell 4, control panel 6 is equipped with wireless communication module 61, power knob 62, emergency stop Button 63, combined aural and visual alarm 64 and start button 65 pass through the wireless communication module 61 on control panel 6, power knob 62, urgency Stopping button 63, combined aural and visual alarm 64 and start button 65 may be implemented the control and instruction of the various states of AGV trolley itself, and This TV station AGV trolley is the same as the communication between other AGV trolley.

PLC controller 12 is equipped in the top surface on chassis 1；Battery case 7 there are two being set in the bottom surface on chassis 1；In 1 bottom surface of chassis Both ends be respectively provided with two universal wheels 8；In 1 bottom surface of chassis and the both ends that are located at direction of travel are respectively provided with one and seek Magnetic Sensor 9； It is equipped with RFID sensor 10 at the center of 1 bottom surface of chassis, placing battery in battery case 7 provides power for AGV trolley, seeks magnetic biography Accurate positionin of the AGV trolley in workshop may be implemented in the setting of sensor 9 and RFID sensor 10.

Both ends on shell 4 positioned at direction of travel are respectively provided with an obstacle avoidance sensor 11, and obstacle avoidance sensor 11 can detect Barrier in front of when AGV trolley is advanced, prevents from colliding, and protects AGV trolley.

It is equipped with cover board 13 at the top of shell 4, criss-cross reinforcing rib 131 is equipped in the bottom surface of cover board, in cover board 13 On set there are two hole 130 of shaking hands, be equipped with projected area on cover board 13 in the bottom surface of cover board 13 and be greater than knob 130 sectional area of hole Shell 132, knob hole 130 section be located at shell 132 in the perspective plane on cover board 13, cover board 13 play protects AGV it is small The effect of vehicle inner components, the setting in knob hole 130 can be convenient installation and removal cover board 13, and mobile AGV is small manually Vehicle, the setting of shell 132 can prevent hand from touching internal components when protruding into AGV car interior, in order to avoid cause safe thing Therefore and damage AGV trolley, and can prevent sundries from knob hole 130 from fall into the small car of AGV.

Claims (9)

1. a kind of towed single two-way AGV of drive, including chassis, traction pin assembly and driving device, it is characterised in that: on chassis A set of traction pin assembly is respectively arranged along the both ends of the direction of travel of AGV in upper surface；Drawing pin assembly includes being located at leading on chassis Draw pin support, is equipped with towing pin motor in the side wall of traction pin support, the output shaft of towing pin motor extend into traction pin support The output shaft of inside, towing pin motor is equipped with drive disk, is equipped with driven roller in the position that drive disk deviates driving disk center, The top vertical for drawing pin support is equipped with traction guide, towing pin is slidably equipped in traction guide, in the bottom of towing pin Equipped with driving plate, driving plate is located at the lower section of driven roller, the first gas spring is equipped between towing pin and chassis, in towing pin branch Frame, which is located at, is provided with the waist type groove that the opposite side of towing pin motor is equipped with vertical direction；It is equipped in driving plate across waist type The driving lever of slot is equipped with bearing on driving lever；It is respectively provided with a limit switch in the two sides of waist type groove, two limit switches are vertical There is difference in height on direction；Perpendicular to being respectively provided with a set of driving device, driving device at left and right sides of AGV direction of travel on chassis It is located on chassis including upper shock-proof seat, lower shock-proof seat, hinged seat and the second gas spring, hinged seat, the side of lower shock-proof seat and hinge Joint chair is hinged, and the other side of lower shock-proof seat is connected by the second gas spring with upper shock-proof seat.

2. the towed single two-way AGV of drive of one kind according to claim 1, it is characterised in that: in the bottom of traction pin support Equipped with bottom plate, it is equipped with pedestal on bottom plate, mounting hole is equipped on pedestal, is equipped in the bottom of mounting hole coaxial with towing pin Internal thread hole, the cylinder base of first gas spring are equipped with screw rod, and the cylinder body of the first gas spring is inserted into fixation hole, and spiral shell is screwed into In internal thread hole.

3. the towed single two-way AGV of drive of one kind according to claim 1, it is characterised in that: shell is equipped on chassis, Shell is equipped with automatic charging piecing devices, and automatic charging piecing devices include insulation board and electrode plate, and insulation board is located at shell Shell is gone up and runs through, electrode plate, which is located on insulation board, is pierced by shell side.

4. the towed single two-way AGV of drive of one kind according to claim 3, it is characterised in that: be equipped with control plane on the shell Plate, control panel are equipped with wireless communication module, power knob, start button, scram button and combined aural and visual alarm.

5. the towed single two-way AGV of drive of one kind according to claim 1, it is characterised in that: set one in the bottom surface on chassis Above battery case, battery case is interior to be arranged battery；Two universal wheels are respectively provided at the both ends of undersurface of bottom disc；In undersurface of bottom disc and position One, which is respectively provided with, in the both ends of direction of travel seeks Magnetic Sensor；RFID sensor is equipped at the center of undersurface of bottom disc；On chassis Top surface is equipped with PLC controller.

6. the towed single two-way AGV of drive of one kind according to claim 3, it is characterised in that: be located at traveling side on the shell To both ends be respectively provided with an obstacle avoidance sensor.

7. the towed single two-way AGV of drive of one kind according to claim 1, it is characterised in that: be equipped with lid at the top of shell Plate is equipped with more than one knob hole on the cover board, is equipped with projected area on the cover board in the bottom surface of cover board and is greater than knob hole The section of the shell of sectional area, hole of shaking hands is located in the perspective plane of shell on the cover board.

8. the towed single two-way AGV of drive of one kind according to claim 7, it is characterised in that: be equipped in the bottom surface of cover board vertical Horizontal staggered reinforcing rib.

9. one kind according to claim 1 is towed single to drive two-way AGV, it is characterised in that: the driving device further includes Driving motor, gear reducer and driving wheel, the output shaft of driving motor are connected with the input shaft of speed reducer, and driving wheel is mounted on deceleration On the output shaft of machine, speed reducer is connected with the side of lower shock-proof seat, and driving wheel is located in lower shock-proof seat.