CN216711491U

CN216711491U - Automatic guide transport vechicle

Info

Publication number: CN216711491U
Application number: CN202121973248.8U
Authority: CN
Inventors: 王光能; 路红艳; 周俊辉; 王君
Original assignee: Shenzhen Dazu Robot Co ltd
Current assignee: Shenzhen Dazu Robot Co ltd
Priority date: 2021-08-22
Filing date: 2021-08-22
Publication date: 2022-06-10
Anticipated expiration: 2031-08-22

Abstract

The embodiment of the application provides an automatic guided transport vehicle, which comprises a shell, a lifting mechanism, a first driving mechanism and a control mechanism, wherein the lifting mechanism, the first driving mechanism and the control mechanism are arranged in the shell; the lifting mechanism and the first driving mechanism are respectively connected with the control mechanism, and the movement of the lifting mechanism and the first driving mechanism is controlled by the control mechanism; the lifting mechanism comprises a second driving mechanism and a lifting seat, the second driving mechanism is connected with the lifting seat and drives the lifting seat to perform lifting motion, the top end of the lifting seat is arranged outside the shell and is in contact with materials to be transported, and the second driving mechanism is arranged in the shell and is connected with the control mechanism. Compared with the prior art, the automatic guide transport vechicle that this application provided locates elevating system, a actuating mechanism and control mechanism in the casing, and elevating system locates the jacking seat and the material contact in the casing outside through the top, compact structure, convenient to use.

Description

Automatic guide transport vechicle

Technical Field

The embodiment of the application belongs to the technical field of automation equipment, and particularly relates to an automatic guide transport vehicle.

Background

An AGV (automatic guided vehicle) is a vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions, and belongs to the category of wheel-type mobile robots. With the development of society and the continuous progress of science and technology, especially under the large trend of industry 4.0 development, the manufacturing industry in China faces the situation of upgrading and modifying, along with the automation degree in the workshop is higher and higher, in order to save the manpower of material transportation in the workshop, AGV is widely used in the transportation of material in the workshop, also has extensive use in the express delivery transportation industry.

In the prior art, the general structure of AGV is more complicated, compact enough, and the volume is great, and does not have elevation structure to go up and down to the material of transportation, and it is convenient inadequately to use.

SUMMERY OF THE UTILITY MODEL

An object of the present application is to provide an automated guided vehicle that at least solves or alleviates the problems existing in the prior art.

In order to achieve the above object, an automated guided vehicle provided in an embodiment of the present application includes a housing, and a lifting mechanism, a first driving mechanism, and a control mechanism disposed in the housing;

the lifting mechanism and the first driving mechanism are respectively connected with the control mechanism, and the movement of the lifting mechanism and the first driving mechanism is controlled by the control mechanism;

the lifting mechanism comprises a second driving mechanism and a lifting seat, the second driving mechanism is connected with the lifting seat and drives the lifting seat to perform lifting motion, the top end of the lifting seat is arranged outside the shell and is in contact with materials to be transported, and the second driving mechanism is arranged in the shell and is connected with the control mechanism.

As a preferred embodiment of the present application, the first driving mechanism includes a first moving member, a first speed reducing mechanism, a first power mechanism, and a first driver;

the first speed reducing mechanism is arranged between the first moving part and the first power mechanism, the first speed reducing mechanism and the first driver are arranged on the supporting part, the supporting part is rotatably connected with the fixing part, and the first driver is connected with the first power mechanism and drives the first moving part to move through the first power mechanism.

As a preferred embodiment of the present application, at least two second moving parts are disposed at the bottom of the housing, and the first driving mechanism drives the second moving parts to rotate through the first moving parts and drives the housing to move.

As a preferred embodiment of the present application, the second driving mechanism includes a second power mechanism, a second speed reducing mechanism and a pushing mechanism;

the output shaft of the second power mechanism is connected with the input end of the second speed reducing mechanism, the output end of the second speed reducing mechanism is connected with the pushing mechanism, and the pushing mechanism is connected with the lifting seat.

As the preferred embodiment of this application, be equipped with on the casing with first actuating mechanism one-to-one's mounting, first actuating mechanism with the mounting rotates to be connected.

As the preferred embodiment of this application, still be provided with the touch-sensitive screen on the casing, the touch-sensitive screen with control mechanism connects for set up and show the running state of automated guided transporting vehicle.

As a preferred embodiment of the application, a first indicator light is arranged on the surface of the shell where the touch screen is arranged, and the first indicator light is used for indicating the pre-movement direction of the automatic guided vehicle.

As a preferred embodiment of the present application, a second indicator light is further disposed on a side surface of the housing, and the second indicator light is connected to the control mechanism and used for indicating a motion state of the automated guided vehicle.

As a preferred embodiment of the present application, a wireless charging module is further disposed in the housing, and the wireless charging module is connected to the control mechanism.

As a preferred embodiment of the present application, a scanner is further disposed on the housing, and the scanner is connected to the control mechanism and is configured to acquire environment information where the automated guided transportation vehicle is located so as to construct an environment map.

The beneficial effect of this application:

compared with the prior art, the automated guided transporting vehicle that this application provided, including the casing with set up the elevating system in the casing, first actuating mechanism and control mechanism elevating system includes second actuating mechanism and lift seat, second actuating mechanism with the seat that goes up and down is connected, and drives lift seat carries out elevating movement, lift seat top sets up in the casing outside and with treat the contact of transported substance material, can realize going up and down to the transported substance material through the technical scheme of this application, and it is more convenient to use.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions, and it will be understood by those skilled in the art that the drawings are not necessarily drawn to scale, in which:

FIG. 1 is a schematic structural diagram of an embodiment of the present application;

FIG. 2 is a bottom view of an embodiment of the present application;

FIG. 3 is a schematic structural view of an embodiment of the present application with the upper cover removed;

FIG. 4 is an exploded top view of an embodiment of the present application;

FIG. 5 is a bottom exploded view of an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a first drive mechanism of an embodiment of the present application;

FIG. 7 is an exploded view of a first drive mechanism of an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a lift mechanism according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a substrate according to an embodiment of the present application.

The attached drawings are as follows:

1-shell, 2-first driving mechanism, 3-lifting mechanism, 4-battery, 5-scanner, 6-touch screen, 7-second moving part, 8-wireless charging module, 9-indicator light, 10-shock-absorbing device, 11-base body, 12-front cover, 13-side cover, 14-rear cover, 15-upper cover, 16-lower cover, 21-first moving part, 22-connecting disc, 23-first speed-reducing mechanism, 24-safety encoder, 25-first power mechanism, 26-first driver, 28-supporting part, 31-mounting seat, 32-pushing mechanism, 33-fixing nut, 34-lifting seat, 35-second power mechanism, 36-second speed-reducing mechanism, 111-C type structure, 112-rib plate, 113-fixing piece.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the described embodiments are merely exemplary of some, and not all, of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As shown in fig. 1 to 3, in an embodiment of the present application, an automated guided vehicle is provided, which includes a housing 1, and a lifting mechanism 3 disposed in the housing 1, a first driving mechanism 2, and a control mechanism (not shown), wherein the lifting mechanism 3 and the first driving mechanism 2 are respectively connected to the control mechanism, and the movement of the lifting mechanism 3 and the first driving mechanism 2 is controlled by the control mechanism;

elevating system 3 includes second actuating mechanism and lift seat 34, second actuating mechanism with lift seat 34 is connected, and the drive lift seat 34 carries out elevating movement, the top setting of lift seat 34 is in the casing 1 outside and with treat the contact of transported substance material, second actuating mechanism sets up in the casing 1 and with control mechanism connects.

As shown in fig. 1 and 3, in a preferred embodiment of the present invention, four lifting mechanisms 3 are provided, and four lifting mechanisms 3 are symmetrically arranged in the housing 1 near the corners. During the use, can be with wherein two adjacent lift seats 34 be a set of, carry out long limit jacking or narrow limit jacking, also can be with four lift seats 34 be a set of, carry out annular jacking or plane jacking, the mode is nimble changeable, and the suitability is wider. The lifting seat 34 can also be used for placing a supporting plate.

As shown in fig. 8, the second driving mechanism includes a mounting seat 31, a pushing mechanism 32, a fixing nut 33, a second power mechanism 35 and a second speed reducing mechanism 36, the second power mechanism 35, the second speed reducing mechanism 36, the pushing mechanism 32 and the lifting seat 34 are sequentially connected, the second power mechanism 35 drives the lifting seat 34 to lift through the second speed reducing mechanism 36 and the pushing mechanism 32, and when the lifting seat 34 is lifted, the lifting seat can be far away from the surface of the housing 1 and lift up the material, in this embodiment, the lifting mechanism 3 is a lifting electric cylinder, and the second power mechanism 35 is a motor.

Specifically, the flange and the outward extending shaft of the second power mechanism 35 are connected to the input end of the second speed reducing mechanism 36, the output end of the second speed reducing mechanism 36 is connected to the input end of the mounting seat 31, the output end of the mounting seat 31 is connected to the pushing mechanism 32, and the push rod of the pushing mechanism 32 is connected to the lifting seat 34 and fixed by the fixing nut 33.

As shown in fig. 5-7 and 9, the number of the first driving mechanisms 2 is two, the two first driving mechanisms 2 are symmetrically arranged at two sides of the middle part in the housing 1, the housing 1 is provided with fixing members 113 corresponding to the first driving mechanisms 2 one by one, and the first driving mechanisms 2 are rotatably connected with the fixing members 113.

As shown in fig. 6 to 7, the first driving mechanism 2 includes a first moving member 21, a connecting disc 22, a first speed reducing mechanism 23, a safety encoder 24, a first power mechanism 25, a first driver 26, and a supporting member 28; the first moving part 21 is used for contacting the ground and driving the second moving part 7 to rotate synchronously.

A first speed reducing mechanism 23 is arranged between the first moving member 21 and the first power mechanism 25, the first speed reducing mechanism 23 and the first driver 26 are arranged on a supporting member 28, the supporting member 28 is rotatably connected with the fixing member 113, and the first driver 26 is connected with the first power mechanism 25 and drives the first moving member 21 to move through the first power mechanism 25.

As shown in fig. 6-7, the first driving mechanism 2 is further provided with a damping device 10, each driving mechanism 2 is provided with a damping device 10, one end of the damping device 10 is connected with the supporting member 28, and the other end of the damping device 10 is connected with the housing 1.

The damping device 10 is a nitrogen spring, and the common damping mode on the market is a spring damping mode of a spring plus a sleeve or a spring plus a guide post, and has the characteristics of simple structure and low manufacturing cost; meanwhile, the defects are obvious, when the vehicle is started and stopped, the vehicle body can fluctuate up and down and shake front and back due to the weak rigidity of the spring in the longitudinal direction, the precision is influenced, and the parking stability time is prolonged. The nitrogen spring that this application adopted is better at vertical rigidity, has solved ordinary spring weak ground shortcoming at vertical rigidity well, and more general spring shock attenuation mode, the transport vechicle starts and stops more steadily, and stable stop time is shorter.

Specifically, the supporting member 28 is sleeved on the fixing member 113 on the housing 1, and can rotate around the axis of the fixing member 113; the flange plate of the first power mechanism 25 is connected with the input end flange of the first speed reducing mechanism 23; the output end of the first speed reducing mechanism 23 is connected with the connecting disc 22, and the outer ring of the connecting disc is connected with the first moving part 21; the fixed end of the damping device 10 (nitrogen spring) is connected with the shell 1, and the extending end is connected with the supporting piece 28; the first actuator 26 is fixed to the support 28; the other end of the output shaft of the first speed reducing mechanism 23 is connected to a safety encoder 24.

The first power mechanism 25 rotates to amplify the torque through the first speed reducing mechanism 23, so as to drive the first moving part 21 to rotate, and the shell 1 is driven forwards through the friction force with the ground; the damping device 10 has the function of ensuring that the first moving part 21 is always pressed against the ground when the ground is slightly fluctuated and uneven, and has the functions of buffering and damping. The safety encoder 24 which is arranged at the output end of the first speed reducing mechanism 23 and is coaxial with the output end of the first speed reducing mechanism can read the information of the number of turns at the output end of the first speed reducing mechanism 23, and the number of turns data is compared with the encoder data of the first power mechanism 25, so that the rotating speed of the first moving part 21 can be accurately controlled, and the double safety functions are realized.

As shown in fig. 2, at least two second moving parts 7 are further disposed on the housing 1, and the first driving mechanism 2 drives the second moving parts 7 to rotate through the first moving part 21 and drives the housing 1 to move.

In a preferred embodiment of the present application, there are two second moving members 7, and the two second moving members 7 may be disposed on the same side of the first driving mechanism 2.

In another preferred scheme of this application, second motion 7 is equipped with four, and four second motion 7 symmetries set up the position that is close to four angles in casing 1 bottom, and first actuating mechanism 2's both sides respectively are equipped with two second motion 7, and second motion 7 is the universal wheel, can be so that the transport vechicle rotates in a flexible way, and of course, second motion 7 also can set up to a plurality ofly, and a plurality of second motion 7 interval evenly distributed are in the bottom position of casing 1, control mechanism drives a plurality of second motion 7 through first actuating mechanism 2 and rotates and drive casing 1 motion.

As shown in fig. 3, a touch screen 6 is further disposed on the housing 1, and the touch screen 6 is disposed on the front end surface of the housing and connected to the control mechanism, and is used for setting and displaying the running state of the automated guided vehicle.

A first indicator light is arranged on the surface of the shell 1 where the touch screen 6 is located, and the first indicator light is used for indicating the pre-movement direction of the automatic guided vehicle.

As shown in fig. 3, a second indicator light 9 is further disposed on a side surface of the housing 1, and the second indicator light 9 is connected to the control mechanism and used for indicating a motion state of the automated guided vehicle, reminding nearby people of avoiding, or giving an alarm in case of a fault.

All be equipped with second indicator 9 on two sides of casing 1, every side is equipped with a second indicator 9 at least, is provided with the indicator lamp cover around second indicator 9, the indicator lamp cover with casing 1 fixed connection.

As shown in fig. 2, a wireless charging module 8 is further disposed in the housing 1, and the wireless charging module 8 is connected to the control mechanism, specifically, disposed at a rear end of the bottom of the housing 1.

Be equipped with wireless charging coil on the wireless module 8 that charges, control mechanism includes a plurality of batteries 4, through wireless module 8 that charges, can be right battery 4 charges. The battery 4 is a rechargeable battery, and the battery 4 may also be a battery pack consisting of a set of batteries. Still be equipped with the socket that charges on the wireless module 8 that charges, can carry out wired charging.

As shown in fig. 3-4, the housing 1 is further provided with two scanners 5, the scanners 5 are connected to the control mechanism, and are used for acquiring the environment information where the automated guided vehicle is located so as to construct an environment map, and the two scanners 5 are respectively arranged at diagonal positions of the housing 1. The scanner 5 is preferably a laser scanner.

As shown in fig. 1-5 and 9, the housing 1 includes a base 11, a front cover 12, a rear cover 14, two side covers 13, an upper cover 15 and a lower cover 16; the front cover 12 is connected with the front end of the base body 11, the rear cover 14 is connected with the rear end of the base body 11, the two side covers 13 are respectively connected with the two sides of the base body 11, the upper cover 15 is connected with the top end of the base body 11, the lower cover 16 is connected with the bottom end of the base body 11, wherein, the front cover 12, the rear cover 14 and the side cover 13 respectively comprise an upper part and a lower part, the middle parts of two sides in the base body 11 are respectively provided with a C-shaped structure 111 matched with the driving mechanism 2, the C-shaped structure 111 is used for accommodating the first moving member 21 (refer to fig. 6) on the first driving mechanism 2, the C-shaped structure 111 is formed by integrally bending and welding metal plates, the structural strength is good, a plurality of rib plates 112 are arranged in the base body 11, a fixing part 113 correspondingly matched with the first driving mechanism 2 is arranged above the C-shaped structure 111 on the base body 11 of the shell 1, the fixing part 113 penetrates through the first driving mechanism 2, and the fixing part 113 is cylindrical. The shell 1 is of a cuboid structure, and the base body 11 is formed by sheet metal welding.

The automatic guiding transport vehicle provided by the application can automatically construct a map through radar navigation of the laser scanner, and auxiliary guiding objects (magnetic stripes, two-dimensional codes and the like) do not need to be laid in a workshop; initially, a laser scanner scans the workshop environment completely to construct a map; when the vehicle is running, the vehicle can run according to a specified route and avoid obstacles; the four lifting mechanisms 3 act to jack the material rack up at the same time when the material rack runs to the lower part of the material rack, and the material rack runs to a specified place and is put down; when the electric quantity is insufficient, the vehicle automatically runs to the charging area to carry out wireless or wired charging through the wireless charging module 8.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The automatic guide transport vehicle is characterized by comprising a shell, a lifting mechanism, a first driving mechanism and a control mechanism, wherein the lifting mechanism, the first driving mechanism and the control mechanism are arranged in the shell;

the lifting mechanism comprises a second driving mechanism and a lifting seat, the second driving mechanism is connected with the lifting seat and drives the lifting seat to move up and down, the top end of the lifting seat is arranged outside the shell and is in contact with materials to be transported, and the second driving mechanism is arranged in the shell and is connected with the control mechanism.

2. The automated guided vehicle of claim 1, wherein the first drive mechanism comprises a first moving member, a first reduction mechanism, a first power mechanism, and a first drive;

3. The automated guided vehicle of claim 2, wherein the bottom of the housing is provided with at least two second moving members, and the first driving mechanism drives the second moving members to rotate through the first moving members and drives the housing to move.

4. The automated guided vehicle of claim 1, wherein the second drive mechanism comprises a second power mechanism, a second speed reduction mechanism, and a pushing mechanism;

5. The automated guided vehicle of claim 1, wherein the housing has fasteners corresponding to the first drive mechanisms, and the first drive mechanisms are rotatably coupled to the fasteners.

6. The automated guided vehicle of claim 1, wherein a touch screen is further disposed on the housing, and the touch screen is connected to the control mechanism for setting and displaying an operating status of the automated guided vehicle.

7. The automated guided vehicle of claim 6, wherein a first indicator light is provided on a surface of the housing on which the touch screen is located, the first indicator light indicating a pre-movement direction of the automated guided vehicle.

8. The automated guided vehicle of claim 1, 6 or 7, wherein a second indicator light is further disposed on a side of the housing, and the second indicator light is connected to the control mechanism for indicating a motion state of the automated guided vehicle.

9. The automated guided vehicle of claim 8, further comprising a wireless charging module disposed in the housing, the wireless charging module being coupled to the control mechanism.

10. The automated guided vehicle of claim 8, further comprising a scanner disposed on the housing, the scanner coupled to the control mechanism for obtaining environmental information about the automated guided vehicle to construct an environmental map.