Omnidirectional double-layer AGV driven by single differential wheel set
By setting up a slewing system between the chassis and the body of the AGV and adopting a two-layer design, the problem that the existing AGV cannot achieve omnidirectional movement and efficient transportation is solved, and the omnidirectional movement and efficient transportation efficiency of the AGV are improved.
Patent Information
- Application Number
- CN202420243540.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-01
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2034-02-01
AI Technical Summary
The existing single-differential wheel system-driven AGV cannot achieve omnidirectional movement in a specific factory layout environment, resulting in low transportation efficiency and inability to connect and pick up and place materials on the driving route, resulting in the rear vehicle waiting.
An omnidirectional double-layer AGV driven by a single differential wheel set is designed, and the omnidirectional movement of the vehicle body is achieved by setting a slewing system between the chassis and the vehicle body. At the same time, the upper and lower layers design and dual pick-and-place stations are adopted to achieve simultaneous two-way transportation and docking of materials.
The omnidirectional movement and efficient transportation of AGVs are realized, which avoids waiting for vehicles behind the driving routes, improves transportation efficiency, and meets the integration of multi-special material distribution and warehouse return tasks in the workshop.
Smart Images
Figure CN222646141U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of AGV equipment, and in particular relates to an omnidirectional double-layer AGV driven by a single differential wheel set. Background Art
[0002] For the existing conventional single differential wheel drive AGV, its two sets of driving wheels are fixed on the body, so it can only realize forward, backward, turning, and spinning in place. For the production environment where the AGV body length is greater than the width, the docking transmission direction is perpendicular to the AGV forward direction, and the docking equipment is distributed in a straight line parallel to the forward direction, and in order to ensure a smaller docking spacing, and comprehensively analyze the AGV's travel mode, the parking point where the AGV and the equipment are docked constitutes the AGV's driving route. When transporting materials, the AGV needs to enter from one end of the route and travel in one direction. When the AGV docks at a certain parking point, due to the travel mode of the differential wheel and the influence of space, the other AGVs cannot bypass and pass through, and need to wait behind the driving route, resulting in low AGV distribution efficiency and certain limitations. Utility Model Content
[0003] The purpose of the utility model is to provide an omnidirectional double-layer AGV driven by a single differential wheel set, so as to solve the problem proposed in the above background technology that the existing AGV driven by a single differential wheel set has a fixed travel mode, cannot be connected to the equipment offline in a specific factory layout environment, and causes the AGV in a multi-vehicle environment to be able to transport sequentially on the same route, resulting in low transportation efficiency and certain limitations.
[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an omnidirectional double-layer AGV driven by a single differential wheel set, wherein a chassis unit is arranged at the lower end of the frame unit, a conveying unit is arranged at the upper end and the middle part of the frame unit, a docking unit is arranged at the lower end of the conveying unit, a laser navigation unit is fixedly connected to the center of the chassis unit, the laser navigation unit is located inside the frame unit, the chassis unit comprises a chassis body, a drive unit and a slewing system, a slewing system is fixedly arranged in the middle part of the chassis body, and drive units are fixedly connected to both sides of the chassis body.
[0005] Preferably, the conveying unit comprises an upper electric roller conveying line and a lower electric roller conveying line, and the upper electric roller conveying line is arranged above the lower electric roller conveying line.
[0006] Preferably, the docking unit comprises an upper docking mechanism and a lower docking mechanism, and the docking unit is located at the lower end of the conveying unit.
[0007] Preferably, the frame unit comprises a frame body, a supporting wheel system and an upper bracket, the upper end of the frame body is fixedly connected to the upper bracket, and the four corners of the lower end of the frame body are fixedly connected to the supporting wheel system.
[0008] Preferably, anti-collision units are arranged around the frame unit, and the anti-collision units include photoelectric sensors and rubber safety touch edges. The photoelectric sensors are respectively located at the front and rear ends of the frame unit, and the rubber safety touch edges are installed on both sides of the vehicle body. The rubber safety touch edges are internally connected to emergency stop circuits.
[0009] Compared with the prior art, the beneficial effects of the utility model are:
[0010] 1. The utility model can realize omnidirectional movement of the vehicle body by setting a rotation system between the chassis and the vehicle body. After the AGV reaches the vicinity of the parking point, it moves sideways to leave the driving route, and returns to the driving route after the docking is completed, so that the AGV does not need to dock on the driving route to pick up and place materials, avoiding the waiting of vehicles behind the route and improving transportation efficiency. At the same time, the AGV is equipped with an upper and lower layer, which can transport materials of two packaging specifications at the same time. In addition, the lower layer is equipped with double pick-up and placement stations, which perform two tasks of material distribution and material return transportation at the corresponding production equipment in one distribution. The design of a double-layer with a total of three stations enables the AGV to meet the compatibility of multi-specification material distribution in the workshop, as well as the integration of distribution and return tasks, and the use efficiency of the AGV has been greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a schematic diagram of the structure of the utility model;
[0012] Figure 2 This is a schematic diagram of the internal structure of the practical frame unit;
[0013] Figure 3 Schematic diagram of the structure of the chassis unit of this utility model.
[0014] In the figure: 1. frame unit; 11. frame body; 12. supporting wheel system; 13. upper bracket; 2. chassis unit; 21. chassis body; 22. driving unit; 23. rotation system; 3. conveying unit; 31. upper electric roller conveyor line; 32. lower electric roller conveyor line; 4. docking unit; 41. upper docking mechanism; 42. lower docking mechanism; 5. laser navigation unit; 6. anti-collision unit; 61. photoelectric sensor; 62. rubber safety touch edge. DETAILED DESCRIPTION
[0015] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0016] See also Figure 1-3 The utility model provides a technical solution: an omnidirectional double-layer AGV driven by a single differential wheel set, wherein a chassis unit 2 is arranged at the lower end of a frame unit 1, a conveying unit 3 is arranged at the upper end and the middle part of the frame unit 1, a docking unit 4 is arranged at the lower end of the conveying unit 3, a laser navigation unit 5 is fixedly connected to the center of the chassis unit 2, and the laser navigation unit 5 is located inside the frame unit 1, the chassis unit 2 includes a chassis body 21, a driving unit 22 and a slewing system 23, a slewing system 23 is fixedly arranged in the middle part of the chassis body 21, and the driving units 22 are fixedly connected to both sides of the chassis body 21.
[0017] In this embodiment, two sets of drive motors and wheels are arranged to be fixed on the chassis body 21 to form a drive unit 22. The utility model is driven by a single differential wheel set and is fixed on the chassis body 21 through a slewing system 23. The slewing gear of the slewing system 23 is meshed with the outer ring gear of the slewing support fixedly connected to the bottom of the vehicle body. When the chassis unit rotates around the center, the slewing drive system drives the transmission gear to rotate around the slewing support in the same direction, so as to achieve the effect that the frame unit is stationary relative to the ground and the chassis unit rotates relative to the ground and the frame unit. After the AGV is started again, the body posture remains unchanged and the direction of travel of the body changes, that is, the omnidirectional operation of the AGV is realized. This design method realizes the omnidirectional movement of the body by arranging a slewing system between the chassis and the body. After the AGV arrives near the parking point, it moves sideways to leave the driving route and returns to the driving route after the docking is completed, so that the AGV does not need to dock on the driving route to pick up and put materials, avoiding the waiting of vehicles behind the route and improving the transportation efficiency.
[0018] Specifically, the conveying unit 3 includes an upper electric roller conveying line 31 and a lower electric roller conveying line 32 , and the upper electric roller conveying line 31 is arranged above the lower electric roller conveying line 32 .
[0019] In this embodiment, a two-layer design is adopted, which can simultaneously transport materials of two packaging specifications. In addition, the lower layer is provided with double pick-up and placement stations, which perform two tasks of material delivery and material return transportation at the corresponding production equipment in one delivery.
[0020] Specifically, the docking unit 4 includes an upper docking mechanism 41 and a lower docking mechanism 42 , and the docking unit 4 is located at the lower end of the conveying unit 3 .
[0021] In this embodiment, by fixing the upper docking mechanism 41 and the lower docking mechanism 42 at the lower ends of the upper electric roller conveyor line 31 and the lower electric roller conveyor line 32 respectively, the stop mechanism of the docking unit 4 can be triggered for automatic docking.
[0022] Specifically, the frame unit 1 includes a frame body 11 , a supporting wheel system 12 and an upper bracket 13 . The upper end of the frame body 11 is fixedly connected to the upper bracket 13 , and the four corners of the lower end of the frame body 11 are fixedly connected to the supporting wheel system 12 .
[0023] In this embodiment, the remaining parts can be fixed by the frame body 11, and the supporting wheel system 12 and the chassis unit 2 can support the whole.
[0024] Specifically, an anti-collision unit 6 is arranged around the frame unit 1, and the anti-collision unit 6 includes a photoelectric sensor 61 and a rubber safety touch edge 62. The photoelectric sensor 61 is respectively located at the front and rear ends of the frame unit 1, and the rubber safety touch edge 62 is installed on both sides of the vehicle body. The rubber safety touch edge 62 is connected to the emergency stop circuit.
[0025] In this embodiment, the photoelectric sensor 61 can sense the roadblock in time and bypass it. At the same time, when moving sideways, the rubber safety edges 62 on both sides can play a certain protective role.
[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An omnidirectional double-layer AGV driven by a single differential wheel set, comprising a frame unit (1), characterized in that: A chassis unit (2) is arranged at the lower end of the frame unit (1), a conveying unit (3) is arranged at the upper end and the middle part of the frame unit (1), a docking unit (4) is arranged at the lower end of the conveying unit (3), a laser navigation unit (5) is fixedly connected to the center of the chassis unit (2), and the laser navigation unit (5) is located inside the frame unit (1), the chassis unit (2) comprises a chassis body (21), a drive unit (22) and a slewing system (23), a slewing system (23) is fixedly arranged at the middle part of the chassis body (21), and the drive units (22) are fixedly connected to both sides of the chassis body (21).
2. The omnidirectional double-layer AGV driven by a single differential wheel set according to claim 1, characterized in that: The conveying unit (3) comprises an upper electric roller conveying line (31) and a lower electric roller conveying line (32), wherein the upper electric roller conveying line (31) is arranged above the lower electric roller conveying line (32).
3. The omnidirectional double-layer AGV driven by a single differential wheel set according to claim 1, characterized in that: The docking unit (4) comprises an upper docking mechanism (41) and a lower docking mechanism (42); the docking unit (4) is located at the lower end of the conveying unit (3).
4. The omnidirectional double-layer AGV driven by a single differential wheel set according to claim 1, characterized in that: The frame unit (1) comprises a frame body (11), a supporting wheel system (12) and an upper bracket (13); the upper end of the frame body (11) is fixedly connected to the upper bracket (13), and the four corners of the lower end of the frame body (11) are fixedly connected to the supporting wheel system (12).
5. The omnidirectional double-layer AGV driven by a single differential wheel set according to claim 1, characterized in that: The frame unit (1) is provided with an anti-collision unit (6) around its periphery. The anti-collision unit (6) comprises a photoelectric sensor (61) and a rubber-type safety touch edge (62). The photoelectric sensor (61) is respectively located at the front and rear ends of the frame unit (1). The rubber-type safety touch edge (62) is installed on both sides of the vehicle body. The rubber-type safety touch edge (62) is internally connected to an emergency stop circuit.