阅读说明：本技术 一种沟道越障agv小车 (AGV dolly is hindered more in channel ) 是由 孙军 赵世伟 江为旺 于 2021-08-04 设计创作，主要内容包括：本发明涉及履带车辆领域,公开了一种沟道越障AGV小车,支撑组件的驱动轮和车体连接,越障组件的转杆和车体转动连接,动力单元安装在转杆上,动力单元的伸缩杆上设置有支撑杆和履带,通过控制组件可以对动力单元进行控制。动力单元可以带动履带靠近或者远离地面,使得履带在靠近时顶起相应侧的驱动轮,远离地面时通过驱动轮进行驱动。当小车遇到沟道时,驱动动力单元使履带将相应侧驱动轮顶起,由另一侧的驱动轮提供动力,推动履带经过沟道,通过后履带远离地面,恢复驱动轮进行驱动,当另一组驱动轮遇到沟道时可以进行相同的操作以越过沟道,从而可以方便地越过密集柜地面设置的沟道而进行搬运作业。(The invention relates to the field of tracked vehicles, and discloses a channel obstacle crossing AGV (automatic guided vehicle), wherein a driving wheel of a supporting assembly is connected with a vehicle body, a rotating rod of the obstacle crossing assembly is rotatably connected with the vehicle body, a power unit is arranged on the rotating rod, a supporting rod and a track are arranged on a telescopic rod of the power unit, and the power unit can be controlled through a control assembly. The power unit can drive the crawler to be close to or far away from the ground, so that the crawler jacks up the driving wheel on the corresponding side when being close to the ground, and the crawler is driven by the driving wheel when being far away from the ground. When the dolly meets the channel, drive power unit makes the track jack-up corresponding side drive wheel, provides power by the drive wheel of opposite side, promotes the track through the channel, keeps away from ground through back track, resumes the drive wheel and drives, can carry out the same operation in order to cross the channel when another group's drive wheel meets the channel to can conveniently cross the channel that intensive cabinet ground set up and carry out the handling operation.)

1. An AGV trolley for crossing obstacles on a channel is characterized in that,

the obstacle crossing vehicle comprises a supporting assembly, two groups of obstacle crossing assemblies, a control assembly and a storage assembly, wherein the supporting assembly comprises a vehicle body and two groups of driving wheels, and the two groups of driving wheels are rotatably connected with the vehicle body and are positioned on two sides of the vehicle body;

the obstacle crossing assembly comprises a rotating rod, a power unit, a support rod and a crawler, the rotating rod is rotatably connected with the vehicle body and is positioned on one side of the driving wheels, the power unit is connected with the rotating rod and is positioned on one side of the rotating rod, the support rod is connected with the power unit and is positioned on one side of the vehicle body close to the driving wheels, the crawler is rotatably connected with the support rod and is positioned on one side of the support rod, and the two groups of obstacle crossing assemblies are respectively arranged on one side of the two groups of driving wheels;

the control assembly comprises electromagnetic valves, an air pump, a controller and a power supply, the electromagnetic valves are communicated with the two power units and are positioned on one side of the vehicle body, the air pump is communicated with the electromagnetic valves, the controller is connected with the electromagnetic valves, the air pump and the driving wheels, and the power supply is connected with the controller;

the storage assembly is arranged on the vehicle body.

2. The AGV of claim 1 wherein,

the control assembly further comprises two ultrasonic sensors, and the two ultrasonic sensors are respectively arranged on one side of the obstacle crossing assembly.

3. The AGV of claim 2 wherein,

the obstacle crossing assembly further comprises a displacement sensor, and the displacement sensor is arranged on the supporting rod.

4. The AGV of claim 3 wherein,

the controller comprises a receiving module, a processing module, a driving module and a pneumatic module, wherein the receiving module is connected with the ultrasonic sensor and the displacement sensor, the processing module is connected with the receiving module, the driving module is connected with the processing module, and the pneumatic module is connected with the processing module.

5. The AGV of claim 1 wherein,

deposit the subassembly and include the support, deposit board, lift cylinder, two support tracks, slide bar and snatch the claw, the support with automobile body fixed connection, and be located one side of automobile body, the lift cylinder with support fixed connection, and be located the support is kept away from one side of automobile body, deposit the board with the telescopic link of lift cylinder rotates to be connected, and is located one side of lift cylinder, two it is fixed to set up to support the track deposit the both sides of board, slide bar and two support track sliding connection, and be located two support between the track, snatch the claw with slide bar fixed connection, and be located one side of slide bar.

6. The trench-obstacle AGV of claim 5,

the support includes support body, damping spring and stabilizer bar, the stabilizer bar with automobile body sliding connection, and be located one side of automobile body, the support body with stabilizer bar fixed connection, and with lift cylinder fixed connection, damping spring sets up lift cylinder with between the automobile body.

7. The AGV of claim 6 wherein,

the slide bar comprises a bar body, a gear and a driving motor, the bar body is in sliding connection with the supporting track, the driving motor is fixed on the bar body, the gear is fixedly connected with the output end of the driving motor, the supporting track is provided with a rack, and the rack is meshed with the gear.

8. The trench-obstacle AGV cart of claim 7,

the storage assembly further comprises a damping block, and the damping block is fixedly connected with the storage plate and contacts with the telescopic rod of the lifting cylinder.

Technical Field

The invention relates to the field of tracked vehicles, in particular to an AGV (automatic guided vehicle) for crossing obstacles on a channel.

Background

At present, a large number of books or files are stored in a dense cabinet. The intensive cabinet is a novel harness suitable for storing book data, archives, goods prices, archives financial certificates and goods in book data rooms, archive rooms, sample rooms and the like of institutions, enterprises and public institutions, and compared with conventional bookshelves, goods shelves and archive shelves, the intensive cabinet is large in storage capacity, saves space and is more traditional.

The ground that places at intensive cabinet has the channel, and this makes traditional AGV dolly can't normally hinder more to get the data of taking, is not convenient for realize the automation that the data was deposited.

Disclosure of Invention

The invention aims to provide an AGV (automatic guided vehicle) for crossing obstacles on a channel, and aims to solve the problem that the existing equipment cannot normally work due to poor obstacle crossing capability

In order to achieve the aim, the invention provides an AGV (automatic guided vehicle) for the channel obstacle crossing, which comprises a supporting component, two groups of obstacle crossing components, a control component and a storage component, wherein the supporting component comprises a vehicle body and two groups of driving wheels, and the two groups of driving wheels are rotationally connected with the vehicle body and are positioned at two sides of the vehicle body; the obstacle crossing assembly comprises a rotating rod, a power unit, a support rod and a crawler, the rotating rod is rotatably connected with the vehicle body and is positioned on one side of the driving wheels, the power unit is connected with the rotating rod and is positioned on one side of the rotating rod, the support rod is connected with the power unit and is positioned on one side of the vehicle body close to the driving wheels, the crawler is rotatably connected with the support rod and is positioned on one side of the support rod, and the two groups of obstacle crossing assemblies are respectively arranged on one side of the two groups of driving wheels; the control assembly comprises electromagnetic valves, an air pump, a controller and a power supply, the electromagnetic valves are communicated with the two power units and are positioned on one side of the vehicle body, the air pump is communicated with the electromagnetic valves, the controller is connected with the electromagnetic valves, the air pump and the driving wheels, and the power supply is connected with the controller; the storage assembly is arranged on the vehicle body.

The control assembly further comprises two ultrasonic sensors, and the two ultrasonic sensors are respectively arranged on one side of the obstacle crossing assembly.

The ultrasonic sensor is arranged on one side of the obstacle crossing assembly, so that the distance from the ultrasonic sensor to the ground can be detected, and a channel can be found when the distance changes suddenly, so that the power unit can be controlled to move conveniently and automatically.

The obstacle crossing assembly further comprises a displacement sensor, and the displacement sensor is arranged on the supporting rod.

The displacement sensor can detect the rotating distance of the crawler belt, so that the passing distance can be judged, and after the preset distance is reached, the two obstacle crossing assemblies can be controlled to exchange working states to enable the other driving wheel to pass.

The controller comprises a receiving module, a processing module, a driving module and a pneumatic module, wherein the receiving module is connected with the ultrasonic sensor and the displacement sensor, the processing module is connected with the receiving module, the driving module is connected with the processing module, and the pneumatic module is connected with the processing module.

The receiving module can receive signals of the displacement sensor and the ultrasonic sensor, and the signals are judged and processed by the processing module, so that the driving module can be driven to drive the driving wheel to rotate or drive the pneumatic module to control the power unit, the air pump and the like to move.

Wherein, deposit the subassembly and include the support, deposit board, lift cylinder, two support tracks, slide bar and snatch the claw, the support with automobile body fixed connection, and be located one side of automobile body, the lift cylinder with support fixed connection, and be located the support is kept away from one side of automobile body, deposit the board with the telescopic link of lift cylinder rotates to be connected, and is located one side of lift cylinder, two the support track is fixed to be set up deposit the both sides of board, slide bar and two support track sliding connection, and be located two support between the track, snatch the claw with slide bar fixed connection, and be located one side of slide bar.

Through the support with the lift cylinder is right deposit the board and support place archives data in the deposit board, through the lift cylinder can upper and lower control deposit the height of board, the slide bar can support orbital support and remove down, then through snatch the claw and snatch the archives on the intensive to automatic taking of archives.

The support comprises a support body, a damping spring and a stabilizer bar, the stabilizer bar is connected with the vehicle body in a sliding mode and is located on one side of the vehicle body, the support body is fixedly connected with the stabilizer bar and fixedly connected with the lifting cylinder, and the damping spring is arranged between the lifting cylinder and the vehicle body.

The stabilizer bar can slide relative to the vehicle body, and the damping spring is arranged between the vehicle body and the lifting cylinder, so that the vibration transmitted to the storage rack from the ground can be reduced, and the storage rack is more stable in the moving process.

The sliding rod comprises a rod body, a gear and a driving motor, the rod body is in sliding connection with the supporting track, the driving motor is fixed on the rod body, the gear is fixedly connected with the output end of the driving motor, the supporting track is provided with a rack, and the rack is meshed with the gear.

The driving motor can drive the gear to rotate, and the gear can reversely drive the rod body to move on the supporting slide rail under the support of the rack.

The storage assembly further comprises a damping block, and the damping block is fixedly connected with the storage plate and contacts with the telescopic rod of the lifting cylinder.

The damping piece is used for increasing the resistance between deposit board and the telescopic link for deposit the board can be consumed by the kinetic energy in the swing in-process gradually, thereby can tend to steadily sooner.

According to the AGV trolley for the channel obstacle crossing, the two groups of driving wheels are all made of hub motors, so that a transmission shaft is not needed in the middle, a space is reserved for installing the obstacle crossing assembly, the rotating rod can rotate relative to the trolley body, the power unit connected with the rotating rod can also rotate, the power unit can drive the supporting rod to be close to or far away from the ground, the driving wheels on the corresponding sides can be jacked up when the crawler is close to the supporting rod, and the driving wheels can be driven when the crawler is far away from the ground. When the dolly meets the channel, the drive power pack makes the track with the corresponding side the drive wheel jack-up, then provides power by the drive wheel of opposite side, promotes the track is through the channel, through the back the track is kept away from ground, resumes the drive wheel and drives, can carry out the same operation when another group drive wheel meets the channel in order to cross the channel, through the solenoid valve can control two the break-make of power pack, the air pump can pass through the solenoid valve is right the power pack air feed, the controller mainly comprises the singlechip, through the power supplies power for whole device to can conveniently cross the channel that intensive cabinet ground set up and carry the operation, thereby solve current equipment and hinder the ability not good and unable normal work's problem more.

Drawings

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

FIG. 1 is a block diagram of a trench obstacle crossing AGV of the present invention;

FIG. 2 is a left side block diagram of a trench obstacle crossing AGV of the present invention;

FIG. 3 is a right side block diagram of a trench obstacle crossing AGV of the present invention;

FIG. 4 is a schematic cross-sectional view of FIG. 1;

FIG. 5 is a schematic cross-sectional view of a trench obstacle crossing AGV of the present invention;

fig. 6 is a control schematic of the present invention.

1-supporting component, 2-obstacle crossing component, 3-control component, 4-storage component, 11-vehicle body, 12-driving wheel, 21-rotating rod, 22-power unit, 23-supporting rod, 24-crawler, 31-electromagnetic valve, 32-air pump, 33-controller, 34-power supply, 35-ultrasonic sensor, 36-displacement sensor, 41-bracket, 42-storage plate, 43-lifting cylinder, 44-supporting rail, 45-sliding rod, 46-grabbing claw, 47-damping block, 331-receiving module, 332-processing module, 333-driving module, 334-pneumatic module, 411-frame body, 412-damping spring, 413-stabilizing rod, 441-rack, 9-storage component, 451-rod body, 452-gear, 453-driving motor, 461-mounting plate, 462-first clamping plate, 463-second clamping plate, 464-screw motor and 466-inclined plate.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Example 1

Referring to fig. 1 to 6, the present invention provides an AGV for a trench obstacle crossing:

the obstacle crossing vehicle comprises a supporting component 1, two groups of obstacle crossing components 2, a control component 3 and a storage component 4, wherein the supporting component 1 comprises a vehicle body 11 and two groups of driving wheels 12, and the two groups of driving wheels 12 are rotatably connected with the vehicle body 11 and are positioned on two sides of the vehicle body 11; the obstacle crossing assembly 2 comprises a rotating rod 21, a power unit 22, a support rod 23 and a crawler 24, wherein the rotating rod 21 is rotatably connected with the vehicle body 11 and is positioned on one side of the driving wheel 12, the power unit 22 is connected with the rotating rod 21 and is positioned on one side of the rotating rod 21, the support rod 23 is fixedly connected with a telescopic rod of the power unit 22 and is positioned on one side of the vehicle body 11 close to the driving wheel 12, the crawler 24 is rotatably connected with the support rod 23 and is positioned on one side of the support rod 23, and the two obstacle crossing assemblies 2 are respectively arranged on one side of the two groups of driving wheels 12; the control assembly 3 comprises an electromagnetic valve 31, an air pump 32, a controller 33 and a power supply 34, the electromagnetic valve 31 is communicated with the two power units 22 and is positioned at one side of the vehicle body 11, the air pump 32 is communicated with the electromagnetic valve 31, the controller 33 is connected with the electromagnetic valve 31, the air pump 32 and the driving wheel 12, and the power supply 34 is connected with the controller 33; the storage unit 4 is provided on the vehicle body 11.

In the present embodiment, the power unit 22 may be a cylinder. Two sets of drive wheel 12 all are made by in-wheel motor, therefore do not need the transmission shaft in the middle, can leave the space installation obstacle crossing subassembly 2, bull stick 21 can rotate relatively automobile body 11 for with the bull stick 21 links to each other power unit 22 also can rotate, power unit 22 can drive bracing piece 23 is close to or keeps away from ground, makes track 24 can jack up corresponding side drive wheel 12 when being close to, can drive when keeping away from the ground again through drive wheel 12. When the trolley encounters a ditch, the power unit 22 is driven to enable the crawler belt 24 to jack up the driving wheel 12 on the corresponding side, then the driving wheel 12 on the other side provides power to push the crawler belt 24 to pass through the channel, and then the crawler belt 24 is far away from the ground, the driving wheel 12 is recovered to drive, the same operation can be performed to cross the channel when the other set of driving wheels 12 meets the channel, and the solenoid valve 31 can control the on-off of the two power units 22, specifically, one cylinder is on and the other cylinder is off, the air pump 32 can supply air to the power unit 22 through the electromagnetic valve 31, the controller 33 is mainly composed of a single chip microcomputer, the power supply 34 supplies power to the whole device, thereby can conveniently cross the channel that intensive cabinet ground set up and carry the operation to solve current equipment and hinder the ability not good and the unable problem of normal work more.

Further, the control assembly 3 further includes two ultrasonic sensors 35, and the two ultrasonic sensors 35 are respectively disposed at one side of the two obstacle crossing assemblies 2; the obstacle crossing assembly 2 further comprises a displacement sensor 36, wherein the displacement sensor 36 is arranged on the support rod 23; the controller 33 includes a receiving module 331, a processing module 332, a driving module 333, and a pneumatic module 334, where the receiving module 331 is connected to the ultrasonic sensor 35 and the displacement sensor 36, the processing module 332 is connected to the receiving module 331, the driving module 333 is connected to the processing module 332, and the pneumatic module 334 is connected to the processing module 332.

In the present embodiment, the model of the ultrasonic sensor 35 is mic +25/F/TC, the displacement sensor 36 is a photoelectric sensor or a magnetostrictive displacement sensor 36, the driving module 333 can drive the driving wheel 12, and the pneumatic module 334 can control the power unit 22, the electromagnetic valve 31, and the air pump 32. The distance to the ground can be detected by the ultrasonic sensor 35, the sensing signals are received by the receiving module 331, when the distance variation exceeds a preset threshold, the processing module 332 is mainly composed of a single chip microcomputer, the processing module 332 can judge that a channel is encountered, so that the electromagnetic valve 31 and the pneumatic module 334 can be driven to control the power unit 22 on the corresponding side to move and jack up the driving wheel 12 on the corresponding side through the crawler 24, the displacement sensor 36 can detect the number of turns of the shaft connected with the crawler 24, so that the displacement of the crawler 24 can be converted, a preset length is set in combination with the length of the vehicle body, when the channel moves to the preset length, the channel is close to another driving wheel 12, so that the current power unit 22 can be directly controlled to be released to inflate another power unit 22 and the crawler 24 below, the channel can be quickly passed through, and the control is more convenient.

Further, the storage assembly 4 includes a support 41, a storage plate 42, a lifting cylinder 43, two support rails 44, a sliding rod 45 and a grabbing claw 46, the support 41 is fixedly connected to the vehicle body 11 and is located on one side of the vehicle body 11, the lifting cylinder 43 is fixedly connected to the support 41 and is located on one side of the support 41 away from the vehicle body 11, the storage plate 42 is rotatably connected to an expansion rod of the lifting cylinder 43 and is located on one side of the lifting cylinder 43, the two support rails 44 are fixedly disposed on two sides of the storage plate 42, the sliding rod 45 is slidably connected to the two support rails 44 and is located between the two support rails 44, and the grabbing claw 46 is fixedly connected to the sliding rod 45 and is located on one side of the sliding rod 45; the bracket 41 comprises a frame body 411, a damping spring 412 and a stabilizer 413, the stabilizer 413 is slidably connected with the vehicle body 11 and is positioned at one side of the vehicle body 11, the frame body 411 is fixedly connected with the stabilizer 413 and is fixedly connected with the lifting cylinder 43, and the damping spring 412 is arranged between the lifting cylinder 43 and the vehicle body 11; the sliding rod 45 comprises a rod body 451, a gear 452 and a driving motor 453, wherein the rod body 451 is slidably connected with the support track 44, the driving motor 453 is fixed on the rod body 451, the gear 452 is fixedly connected with the output end of the driving motor 453, the support track 44 is provided with a rack 441, and the rack 441 is meshed with the gear 452; the storage assembly 4 further comprises a damping block 47, and the damping block 47 is fixedly connected with the storage plate 42 and contacts with an expansion rod of the lifting cylinder 43.

In this embodiment, the rack 41 and the lifting cylinder 43 support the storage plate 42, the file materials are placed in the storage plate 42, the lifting cylinder 43 can control the height of the storage plate 42 up and down, the sliding rod 45 can move under the support of the support rail 44, and then the files on the compact shelf can be grabbed by the grabbing claw 46, so as to automatically take the files. The stabilizer bar 413 can slide relative to the vehicle body 11, and the damping spring 412 is arranged between the vehicle body 11 and the lifting cylinder 43, so that the vibration transmitted to the storage rack from the ground can be reduced, and the storage rack is more stable in the moving process. The driving motor 453 can drive the gear 452 to rotate, and the gear 452 can reversely drive the rod body 451 to move on the supporting slide rail under the support of the rack 441. The damping block 47 is used for increasing the resistance between the storage plate 42 and the telescopic rod, so that the kinetic energy of the storage plate 42 in the swinging process can be gradually consumed, and the storage plate can more quickly and smoothly move.

Further, the grabbing jaw 46 comprises a mounting plate 461, a first clamping plate 462, a second clamping plate 463 and a screw motor 464, wherein the mounting plate 461 is fixedly connected with the sliding rod 45, the first clamping plate 462 is fixedly connected with the mounting plate 461 and is positioned at one side of the mounting plate 461, the second clamping plate 463 is slidably connected with the mounting plate 461 and is positioned at one side of the first clamping plate 462, and a screw of the screw motor 464 is rotatably connected with the first clamping plate 462 and is in threaded connection with the second clamping plate 463; the grabbing jaw 46 further includes two inclined plates 466, and the two inclined plates 466 are fixedly connected to the first clamping plate 462 and the second clamping plate 463, respectively, and are located at one side of the first clamping plate 462 and the second clamping plate 463.

In this embodiment, the screw motor 464 can drive the second clamp 463 to slide relative to the mounting plate 461 to approach the first clamp 462, so as to clamp and fix files, the inclined plate 466 is mounted at the head of the first clamp 462 and the head of the second clamp 463, so that the files can be more conveniently inserted into the gap between the files, the files can be more conveniently taken out, and a camera can be further arranged on the mounting plate 461 for monitoring in order to reduce the taking error.

The invention has the following use process: two sets of drive wheel 12 all are made by in-wheel motor, therefore do not need the transmission shaft in the middle, can leave the space installation obstacle crossing subassembly 2, bull stick 21 can rotate relatively automobile body 11 for with the bull stick 21 links to each other power unit 22 also can rotate, power unit 22 can drive bracing piece 23 is close to or keeps away from ground, makes track 24 can jack up corresponding side drive wheel 12 when being close to, can drive when keeping away from the ground again through drive wheel 12. When the trolley encounters a channel, the power unit 22 is driven to enable the crawler 24 to jack up the driving wheel 12 on the corresponding side, then the driving wheel 12 on the other side provides power to push the crawler 24 to pass through the channel, the crawler 24 is far away from the ground after passing through the channel, the driving wheel 12 is recovered to be driven, the same operation can be carried out to cross the channel when the other group of driving wheels 12 encounters the channel, the on-off of the two power units 22 can be controlled through the electromagnetic valve 31, the air pump 32 can supply air to the power unit 22 through the electromagnetic valve 31, the controller 33 is mainly composed of a single chip microcomputer, and the power supply 34 supplies power to the whole device, so that the whole device can conveniently cross the channel arranged on the ground of the dense cabinet to carry out carrying operation, and the problem that the existing equipment cannot normally work due to poor obstacle crossing capability is solved.

Example 2

The present embodiment is substantially the same as the technical solution of embodiment 1, and is not described herein again, and the only difference is that the driving unit 22 may also be a screw motor and a slider cooperating to drive the supporting rod 23.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.