QR code inertial navigation side traction AGV

Abstract

The present invention relates to a two-dimensional code inertial navigation side-traction type AGV, comprising a limit unit, a clamping mechanism and a docking and guiding unit; the clamping mechanism is arranged directly below the limit unit, and can clamp the bottom of one end of a material trolley; the docking and guiding unit is a long hollow structure, one end of which is fixed to one side of the limit unit, and at least one side is provided with a guide portion; the guide portion is in the shape of a long strip, one end of which extends toward the limit unit, and the other end of which extends in a direction away from the limit unit, and one side of which can be attached to the lower part of one side of the material trolley; the limit unit can move toward the material trolley with the guide portion, and abut against one end of the material trolley. The docking and guiding unit can continuously correct the position of the two-dimensional code inertial navigation side-traction type AGV during the movement of the two-dimensional code inertial navigation side-traction type AGV toward the material trolley, thereby effectively improving the docking accuracy when the two-dimensional code inertial navigation side-traction type AGV is connected to the material trolley.

Description

Technical Field

[0001] The present invention relates to the technical field of side-pull AGV, and in particular to a two-dimensional code inertial navigation side-pull AGV. Background Art

[0002] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with an electromagnetic or optical automatic guidance device, which can replace manual traction of material carts, allowing the material carts to travel along the specified guidance path with the AGV, and safely and efficiently transfer the shelves on the material carts to the designated location. The QR code inertial navigation side-traction AGV integrates inertial navigation technology and QR code correction technology, and uses side traction to pull the material cart, making the driving path of the AGV and the material cart more accurate.

[0003] At present, how to improve the docking accuracy when the two-dimensional code inertial navigation side-traction AGV is connected to the material trolley has become a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] In order to solve the problem of low docking accuracy when a traditional two-dimensional code inertial navigation side-traction type AGV is side-connected with a material trolley, the present invention provides a two-dimensional code inertial navigation side-traction type AGV.

[0005] In order to achieve the purpose of the present invention, a two-dimensional code inertial navigation side-traction AGV is provided, including a limit unit, a clamping mechanism and a docking and guiding unit;

[0006] The clamping mechanism is arranged directly below the limit unit and can clamp the bottom of the material trolley;

[0007] The docking and guiding unit is a long hollow structure, one end of which is fixed to a side surface of the limiting unit, and at least one side surface is provided with a guiding portion;

[0008] The guide portion is in the shape of a long strip, one end of which extends toward the limiting unit and the other end of which extends in a direction away from the limiting unit, and one side of which can be attached to the lower part of one side of the material trolley;

[0009] The limiting unit can move toward the material trolley along with the guiding part and abut against one end of the material trolley.

[0010] In one specific embodiment, there are two docking and guiding units, which are fixed in parallel at the lower part of the same side surface of the limiting unit, and one side surface is arranged opposite to each other;

[0011] A guiding part is respectively provided at the lower part of the opposite side surfaces of the two docking and guiding units.

[0012] In one specific embodiment, the two guide portions are arranged in parallel at one end close to the limiting unit and are bent backward at one end away from the limiting unit.

[0013] In one of the specific embodiments, each guide portion includes a guide bar and a plurality of guide wheels;

[0014] One end of the guide bar extends toward the limiting unit, and the other end extends in a direction away from the limiting unit;

[0015] A plurality of guide wheels are evenly fixed on the guide bar along the extension direction of the guide bar.

[0016] In one of the specific embodiments, the limit unit is a square hollow structure, with a main control board fixed inside, an operation panel on the top, a heat dissipation strip on at least one end, and a brake member is fixed on opposite ends of a side surface close to the docking and guiding unit;

[0017] The operation panel is equipped with multiple buttons, indicator lights and speakers;

[0018] Each button, indicator light and speaker is electrically connected to the main control board.

[0019] In one of the specific embodiments, a groove is respectively provided at the bottom of the two opposite ends of the limiting unit;

[0020] A groove is provided at the bottom of one end of each docking and guiding unit away from the limiting unit; a first clearance hole is provided at the middle of the bottom of each docking and guiding unit;

[0021] Also includes a drive unit;

[0022] The driving unit includes a driving motor, a driving wheel and a driven wheel;

[0023] There are two drive motors, which are respectively fixed in the middle of the two docking and guiding units;

[0024] There are two driving wheels, which are respectively arranged in the middle of the two docking and guiding units and connected to the two driving motors one by one; each driving wheel is directly opposite to a first clearance hole;

[0025] There are four driven wheels, which are respectively fixed in four grooves.

[0026] In one of the specific embodiments, it also includes a QR code detection unit, an obstacle sensing unit and an arrival detection unit;

[0027] The QR code detection unit is a square hollow structure, one end of which is fixedly connected to the lower part of one side of the limit unit close to the docking guide unit, one end of the interior is fixed with a clamping mechanism, the other end of the interior is fixed with an AGV code reader, the top is provided with a second clearance hole facing the clamping mechanism, and the bottom is provided with a light-transmitting hole facing the AGV code reader;

[0028] The obstacle sensing unit is fixed to a side of the limiting unit away from the docking and guiding unit;

[0029] There are two in-position detection units, which are respectively fixed at two opposite ends of the lower part of one side of the limit unit close to the docking and guiding unit;

[0030] The clamping mechanism, the AGV code reader, the obstacle sensing unit and the arrival detection unit are all electrically connected to the main control board.

[0031] In one of the specific embodiments, the obstacle sensing unit is a laser scanner;

[0032] The in-position detection unit is a displacement sensor.

[0033] In one specific embodiment, it also includes a first anti-collision strip and a second anti-collision strip;

[0034] The first anti-collision strip is fixed to the upper part of a side surface of the limiting unit close to the docking and guiding unit, and the two ends thereof extend toward the two ends of the limiting unit respectively;

[0035] The second anti-collision strip is disposed around the lower part of a side surface of the limiting unit away from the docking and guiding unit and the lower parts of the opposite sides of the two docking and guiding units.

[0036] In one of the specific embodiments, the clamping mechanism includes a first side clamping unit, a second side clamping unit and a push rod motor;

[0037] The first side clamping unit and the second side clamping unit are cross-arranged, the middle parts are rotatably connected, and the upper parts are bent toward each other to form a first clamping part and a second clamping part;

[0038] A hinge seat is provided on one side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit;

[0039] The push rod motor is integrally arranged at one side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit. The output shaft is rotatably connected to the hinge seat, and can drive the first clamping part of the first side clamping unit and the second clamping part of the second side clamping unit to move toward or away from each other.

[0040] Beneficial effects of the present invention: The two-dimensional code inertial navigation side-traction type AGV of the present invention is provided with a limit unit, a clamping mechanism and a docking and guiding unit, and a side of the limit unit close to the docking and guiding unit can be abutted against the lower part of one end of the material trolley. When the material trolley abuts against the limit unit, the clamping mechanism can clamp the bottom of one end of the material trolley to temporarily fix the connection between the material trolley and the two-dimensional code inertial navigation side-traction type AGV. The docking and guiding unit can continuously correct the position of the two-dimensional code inertial navigation side-traction type AGV during the movement of the two-dimensional code inertial navigation side-traction type AGV toward the material trolley, effectively improving the docking accuracy when the two-dimensional code inertial navigation side-traction type AGV is connected with the material trolley. One side of the long strip-shaped guide part can fit the lower part of one side of the material trolley and move along the body length direction of the material trolley. The limit unit can move toward the material trolley along with the guide part. In this way, the stability, smoothness, docking accuracy and production rhythm during docking are greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of a specific embodiment of a two-dimensional code inertial navigation side-traction AGV of the present invention;

[0042] Figure 2 yes Figure 1 A partial enlarged view of the middle A area;

[0043] Figure 3 yes Figure 1 The exploded view of the QR code inertial navigation side traction AGV shown;

[0044] Figure 4 yes Figure 3 A structural schematic diagram of a specific embodiment of a clamping mechanism in a QR code inertial navigation side-traction AGV shown;

[0045] Figure 5 yes Figure 3 The structure diagram of a specific embodiment of a drive unit in a QR code inertial navigation side-traction AGV is shown. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar symbols throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by the terms "top", "bottom", "inside", "outside", "axis", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "join", "hinge", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 A two-dimensional code inertial navigation side-traction AGV includes a limit unit 110, a clamping mechanism 120 and a docking and guiding unit 130. The clamping mechanism 120 is arranged directly below the limit unit 110 and can clamp the bottom of the material trolley. The docking and guiding unit 130 is a long hollow structure, one end of which is fixed to a side surface of the limit unit 110, and at least one side is provided with a guide portion 131. Specifically, the guide portion 131 is in the shape of a long strip, one end of which extends toward the limit unit 110, and the other end of which extends in a direction away from the limit unit 110, and one side can be attached to the lower part of one side of the material trolley. The limit unit 110 can move toward the material trolley along with the guide portion 131 and abut against one end of the material trolley.

[0052] In this embodiment, a side surface of the limiting unit 110 close to the docking and guiding unit 130 can abut against the lower part of one end of the material trolley. When the material trolley abuts against the limiting unit 110, the clamping mechanism 120 can clamp the bottom of one end of the material trolley to temporarily fix the connection between the material trolley and the two-dimensional code inertial navigation side-traction type AGV. It should be pointed out that when the material trolley is docked with the two-dimensional code inertial navigation side-traction type AGV, the material trolley remains stationary and the two-dimensional code inertial navigation side-traction type AGV moves toward the material trolley. By adding the docking and guiding unit 130, the position of the two-dimensional code inertial navigation side-traction type AGV can be continuously corrected during the movement of the two-dimensional code inertial navigation side-traction type AGV toward the material trolley, which effectively improves the docking accuracy when the two-dimensional code inertial navigation side-traction type AGV is connected to the material trolley. Specifically, a long strip-shaped guide portion 131 is provided on at least one side of the docking guide unit 130, and one side of the guide portion 131 can fit the lower part of one side of the material trolley and move along the length direction of the material trolley. In this process, the limit unit 110 can move toward the material trolley along with the guide portion 131. In this way, the stability, smoothness, accuracy and production rhythm of docking are greatly improved.

[0053] In a specific embodiment of the present invention, there are two docking and guiding units 130, which are fixed in parallel at the lower part of the same side of the limiting unit 110, and one side is arranged opposite to each other. A guide portion 131 is respectively provided at the lower part of the opposite side of the two docking and guiding units 130. The two guide portions 131 of the two docking and guiding units 130 can be respectively attached to the lower part of the opposite sides of the same material trolley, further improving the docking accuracy when the two-dimensional code inertial navigation side traction AGV is connected to the material trolley.

[0054] In a specific embodiment of the present invention, the two guide portions 131 are arranged in parallel at one end close to the limit unit 110, and are bent in reverse at one end away from the limit unit 110. The two guide portions 131 at one end away from the limit unit 110 allow the movement direction of the AGV to be initially adjusted, and the middle part of the two guide portions 131 can adjust the movement direction of the AGV again. In this way, the entire docking process is smoother and more stable, effectively improving the docking accuracy and efficiency.

[0055] In a specific embodiment of the present invention, each guide portion 131 includes a guide bar 1311 and a plurality of guide wheels 1312. Among them, one end of the guide bar 1311 extends toward the limit unit 110, and the other end extends in a direction away from the limit unit 110. The plurality of guide wheels 1312 are evenly fixed on the guide bar 1311 along the extension direction of the guide bar 1311. Here, it should be noted that each guide portion 131 also includes a plurality of support rods, and the plurality of support rods correspond to the plurality of guide wheels 1312 one by one. The plurality of support rods are evenly fixed on the guide bar 1311 along the extension direction of the guide bar 1311, and the axes are all vertically arranged. A guide wheel 1312 is sleeved on the upper part of each support rod. Specifically, the guide wheel 1312 is a bearing. The overall structure is relatively simple, and has a good guiding effect on the material trolley, so that the entire docking process is relatively smooth and stable, and the docking accuracy and efficiency are effectively improved.

[0056] In a specific embodiment of the present invention, the limiting unit 110 is a square hollow structure, and the main control board 113 and the battery 114 are fixed inside. The main control board 113 is electrically connected to the battery 114, and the battery 114 supplies power to the main control board 113. The housing of the limiting unit 110 can effectively isolate the electrical components from the outside, thereby improving the safety of operation. An operation panel 111 is provided on the top of the limiting unit 110, and a plurality of buttons, a plurality of connectors, a plurality of knobs, indicator lights and speakers are provided on the operation panel 111. Each button, each connector, each knob, indicator light and speaker are electrically connected to the main control board 113. In this way, it is more convenient for people to operate and monitor the two-dimensional code inertial navigation side traction AGV. Specifically, there are four buttons, namely, a reset button, a stop button, a start button and a brake release button. There are two connectors, namely, a 24V power supply interface and a hand operator interface. There are two knobs, namely, an emergency stop knob and a power switch knob. In addition, one side of the operation panel 111 is rotatably connected to the top of a side panel of the limiting unit 110 through a hinge, so that the main control board 113 can be easily taken out of the limiting unit 110 for replacement. A wire storage groove is provided on a side of the limiting unit 110 away from the docking and guiding unit 130, which can store the wire harness and effectively extend the service life of the wire harness. A top cover 132 is provided on the top of each docking and guiding unit 130, and each top cover 132 is provided with a brake release button and an emergency stop knob. The brake release button and the emergency stop knob are both electrically connected to the main control board 113. A heat dissipation bar 115 is provided at at least one end of the limiting unit 110, and the two ends of the heat dissipation bar 115 extend in the vertical direction. A plurality of heat dissipation holes are provided on the heat dissipation bar 115, so that the electrical components inside the limiting unit 110 can dissipate heat and ensure the stability of the electrical components. A brake member 112 is fixed to the opposite ends of a side of the limiting unit 110 close to the docking and guiding unit 130. Specifically, the brake member 112 is in a "п" structure as a whole, which can prevent the material trolley and the limit unit 110 from continuing to move relative to each other. In addition, a first sealing plate 116 is provided on the side of the limit unit 110 away from the docking and guiding unit 130, and the first sealing plate 116 is connected to the main body of the limit unit 110 by screw connection, so that the main control board 113 can be easily inspected and repaired.

[0057] In a specific embodiment of the present invention, a groove is provided at the bottom of the opposite ends of the limit unit 110. A groove is provided at the bottom of each docking and guiding unit 130 at one end away from the limit unit 110. A first clearance hole is provided in the middle of the bottom of each docking and guiding unit 130. The two-dimensional code inertial navigation side traction AGV also includes a driving unit, which can drive the AGV to move as a whole. Specifically, the driving unit includes a driving motor 161, a driving wheel 162, a driven wheel and a balancing mechanism 163. Among them, there are two driving motors 161, which are respectively fixed in the middle of the two docking and guiding units 130. There are two driving wheels 162, which are respectively arranged in the middle of the two docking and guiding units 130 and connected to the two driving motors 161 in a one-to-one correspondence. Each driving wheel 162 is opposite to a first clearance hole. There are four driven wheels, all of which are universal wheels, which are respectively fixed in four grooves. The two driving motors 161 are respectively electrically connected to the main control board 113, and the main control board 113 controls whether the two driving motors 161 work. The two driving end motors can differentially drive the two driving wheels 162 so that the rotation speeds of the two driving wheels 162 are different, thereby enabling the AGV to turn or rotate in place. The two driving motors 161 can also make the rotation speeds of the two driving wheels 162 the same so that the AGV can move in a straight line. The driven wheel makes the AGV run more smoothly and plays a supporting role. There are two balancing mechanisms 163, which are respectively arranged in the middle of the two docking and guiding units 130. They are connected to the two driving wheels 162 in a one-to-one correspondence. Specifically, each balancing mechanism 163 includes a balancing plate, a front balancer and a rear balancer. Among them, the balancing plate is a diamond structure, the middle part is connected to the driving wheel 162 through a fixed shaft, and a mounting hole is opened on the front side. The front balancer includes a rotating shaft and two front pressing plates. The rotating shaft is inserted into the mounting hole, and the two ends extend toward the left and right sides of the balancing plate respectively. The two front pressing plates are arranged opposite to each other, and the upper part is fixedly connected to the left and right ends of the rotating shaft respectively. The rear balancer includes a rear pressing block and a shock absorbing spring. The rear pressing block is connected to the rear side of the balance plate by transmission. The shock-absorbing spring is arranged vertically, and the bottom end is fixedly connected to the top of the rear pressing block. The balancing mechanism 163 as a whole utilizes the principle of lever, which can make the driving wheel 162 produce enough pressure on the ground surface so that the driving wheel 162 can move forward or backward. In this way, when the ground flatness is poor, the driving wheel 162 can still fit the ground well, so that the AGV can move forward or backward stably. At the same time, the height difference of the ground is effectively absorbed. On the whole, the driven wheel is built into the groove, and the driving motor 161, the driving wheel 162 and the balancing mechanism 163 are built into the docking and guiding unit 130, which not only prolongs the service life of the driving unit, but also effectively reduces the space occupied by the AGV as a whole, which is conducive to the miniaturization design of the AGV. In addition, a second sealing plate 133 is respectively provided in the middle of the opposite sides of the two docking and guiding units 130. The second sealing plate 133 is connected to the main body of the docking and guiding unit 130 by screw connection.In this way, it is convenient to disassemble, replace, and install the driving motor 161 , the driving wheel 162 , and the balancing mechanism 163 .

[0058] In a specific embodiment of the present invention, the two-dimensional code inertial navigation side-traction AGV also includes a two-dimensional code detection unit 140, an obstacle sensing unit and an in-place detection unit 150. Among them, the two-dimensional code detection unit 140 is a square hollow structure, one end of which is fixedly connected to the lower part of one side of the limit unit 110 close to the docking and guiding unit 130, one end of the interior is fixed with a clamping mechanism 120, the other end of the interior is fixed with an AGV code reader, the top is provided with a second clearance hole directly opposite to the clamping mechanism 120, and the bottom is provided with a light-transmitting hole directly opposite to the AGV code reader. The clamping mechanism 120 can extend to the outside of the two-dimensional code detection unit 140 through the second clearance hole to facilitate clamping the bottom of the material trolley. The AGV code reader can collect the two-dimensional code attached to the surface through the light-transmitting hole to facilitate the realization of two-dimensional code navigation. The obstacle sensing unit is fixed to the side of the limit unit 110 away from the docking and guiding unit 130, and can sense obstacles in the forward direction of the AGV, so that the AGV can avoid obstacles and travel. There are two in-place detection units 150, which are fixed at the opposite ends of the lower part of one side of the limit unit 110 close to the docking guide unit 130, and can detect the distance between the guide unit and the material trolley, which is conducive to better completing the docking process. The clamping mechanism 120, AGV code reader, obstacle sensing unit and in-place detection unit 150 are all electrically connected to the main control board 113, and the main control board 113 controls whether the AGV code reader, obstacle sensing unit and in-place detection unit 150 are working. Specifically, in the AGV code reader of the Chinese Huarui 3000 series, the obstacle sensing unit is a laser scanner, and the scanning angle that can be achieved is °, and the in-place detection unit 150 is a displacement sensor with a lever.

[0059] In a specific embodiment of the present invention, a first anti-collision strip 170, a second anti-collision strip 180, a first warning light and a second warning light 190 are further included. The first anti-collision strip 170 is fixed to the upper part of a side surface of the limiting unit 110 close to the docking and guiding unit 130, and the two ends extend toward the two ends of the limiting unit 110 respectively. Specifically, the first anti-collision strip 170 is made of rubber or plastic, which can buffer the impact force generated by the limiting unit 110 and the material trolley, and extend the service life of the limiting unit 110. The second anti-collision strip 180 has a plurality of bending structures as a whole, which is surrounded by the lower part of a side surface of the limiting unit 110 away from the docking and guiding unit 130 and the lower part of the opposite side of the two docking and guiding units 130, and can protect the side surface of the limiting unit 110 away from the docking and guiding unit 130 and the opposite side of the two docking and guiding units 130, and extend the service life of the limiting unit 110 and the docking and guiding unit 130. Specifically, the second anti-collision strip 180 can be made of a steel pipe that is bent multiple times, is not easily deformed, and has good impact resistance. There is one first warning light, which is fixed to the lower part of the side of the limit unit 110 away from the docking and guiding unit 130. There are four second warning lights 190, two of which are respectively fixed to the upper part of one end of the two docking and guiding units 130 away from the limit unit 110, and the other two are respectively fixed to the upper parts of the opposite ends of the side of the limit unit 110 away from the docking and guiding unit 130. The warning lights are all electrically connected to the main control board 113 and can emit light to serve as a warning.

[0060] In a specific embodiment of the present invention, the clamping mechanism 120 includes a first side clamping unit 121, a second side clamping unit 122 and a push rod motor 123. The first side clamping unit 121 and the second side clamping unit 122 are cross-arranged, the middle part is rotatably connected, and the upper part is bent toward each other to form a first clamping portion and a second clamping portion. A hinge seat is provided on the side of the bottom of the first side clamping unit 121 away from the bottom of the second side clamping unit 122. The push rod motor 123 is integrally arranged on the side of the bottom of the first side clamping unit 121 away from the bottom of the second side clamping unit 122, and the output shaft is rotatably connected to the hinge seat, which can drive the first clamping portion of the first side clamping unit 121 and the second clamping portion of the second side clamping unit 122 to move toward or away from each other. The push rod motor 123 is electrically connected to the main control board 113, and the main control board 113 controls whether the push rod motor 123 works. Overall, it is more convenient and quick to connect and disconnect the QR code inertial navigation side-pull AGV and the material trolley. Moreover, the two side clamping units are matched to make the connection between the side-pull AGV and the material trolley more stable. Overall, the transfer efficiency when transferring the position of the shelf on the material trolley is effectively improved.

[0061] In a specific embodiment of the present invention, the first clamping part includes a first clamping plate and a first buffer sheet, and the first clamping plate is a square structure with a clearance groove on the upper part. The clearance groove can structurally avoid the bottom of the material trolley. The shape of the first buffer sheet is compatible with the shape of the first clamping plate, and is attached to a side of the first clamping plate that is opposite to the second clamping plate. The second clamping part includes a second clamping plate and a second buffer sheet, and the second clamping plate is a square structure, and one side is arranged opposite to a side of the first clamping plate. The shape of the second buffer sheet is compatible with the shape of the second clamping plate, and is attached to a side of the second clamping plate that is opposite to the first clamping plate. On the whole, the contact area between the first clamping part and the bottom of the material trolley and the contact area between the second clamping part and the bottom of the material trolley are both large, which greatly improves the stability of the material trolley when connected to the two-dimensional code inertial navigation side traction AGV. The first buffer sheet and the second buffer sheet can effectively enhance the friction between the first clamping part and the bottom of the material trolley and the second clamping part and the bottom of the material trolley, so that the stability of the connection between the first clamping part and the bottom of the material trolley and the second clamping part and the bottom of the material trolley is further enhanced. At the same time, the first buffer sheet and the second buffer sheet can reduce the wear between the first clamping plate and the material trolley and between the second clamping plate and the material trolley, effectively extending the service life of the first clamping plate and the second clamping plate. Specifically, the first buffer sheet is connected to the first clamping plate by screw connection, and the second buffer sheet is connected to the second clamping plate by screw connection, so that the replacement of the first buffer sheet and the second buffer sheet is more convenient. The material of the first buffer sheet and the second buffer sheet is rubber or plastic. The first clamping part also includes a first fixing bar, and the first fixing bar is two, which are respectively fixed to the opposite ends of a side of the first clamping plate away from the second clamping plate. The two first fixing bars are respectively fixedly connected to the upper parts of the two first rotating arms. By adding the first fixing bar, the contact area when the first clamping plate is connected to the first rotating arm is effectively increased, thereby effectively improving the stability when the first clamping plate is connected to the first rotating arm. The second clamping part also includes a second fixing bar, and the second fixing bar is two, which are respectively fixed to the opposite ends of the side of the second clamping plate away from the first clamping plate. The two second fixing bars are respectively fixedly connected to the upper parts of the two second rotating arms. By adding the second fixing bar, the contact area when the second clamping plate is connected to the second rotating arm is effectively increased, thereby effectively improving the stability when the second clamping plate is connected to the second rotating arm. On the whole, the modular design is adopted to effectively reduce the manufacturing difficulty of the clamping mechanism 120 and improve the production efficiency of the clamping mechanism 120. The overall structure is also relatively stable, which is conducive to improving the stability when the clamping mechanism 120 is connected to the material trolley. Moreover, the first fixing bar and the first rotating arm and the second fixing bar and the second rotating arm are connected by screw connection, which is convenient for the replacement and use of the first clamping part and the second clamping part.

[0062] In a specific embodiment of the present invention, the first side clamping unit 121 includes a first rotating arm and a first connecting shaft. There are two first rotating arms, which are arranged opposite to each other, so that the torque can be transmitted more stably. The lower part and the middle part of each first rotating arm are inclined, and the upper part is arranged vertically. The two ends of the first connecting shaft are respectively fixedly connected to the lower parts of the two first rotating arms, so that the two first rotating arms can rotate synchronously and maintain the coordination of the two first rotating arms when rotating. The second side clamping unit 122 includes a second rotating arm, a second connecting shaft and a third connecting shaft. There are two second rotating arms, which are arranged opposite to each other, so that the torque can be transmitted more stably. The two second rotating arms are respectively arranged crosswise with the two first rotating arms. The middle parts of the two second rotating arms are respectively rotatably connected with the middle parts of the two first rotating arms, and the upper parts are both arranged vertically. The two ends of the second connecting shaft are respectively fixedly connected to the lower parts of the two second rotating arms, and the two ends of the third connecting shaft are respectively fixedly connected to the middle parts of the two second rotating arms, so that the two second rotating arms can rotate synchronously and maintain the coordination of the two second rotating arms when rotating. The two ends of the first clamping plate are respectively fixedly connected to the upper parts of the two first rotating arms and can rotate with the first rotating arms. The two ends of the second clamping plate are respectively fixedly connected to the upper parts of the two second rotating arms and can rotate with the second rotating arms. Among them, the first connecting shaft is a hollow structure with openings at both ends. The lower parts of the two first rotating arms are respectively provided with a first rotating ring, and the middle parts are respectively provided with a second rotating ring. The first side clamping unit 121 also includes a first bearing and a roller. There are two first bearings, which are respectively fixed to the mutually opposite sides of the two first rotating rings. The roller is inserted into the first connecting shaft, and the outer walls of the two ends are respectively fixedly connected to the inner walls of the two first bearings. In this way, the first bearing, the first rotating ring of the first rotating arm and the first connecting shaft can all rotate around the axis of the roller. The second connecting shaft and the third connecting shaft are both hollow structures with openings at both ends. The lower parts of the two second rotating arms are respectively provided with a third rotating ring, and the middle parts are respectively provided with a fourth rotating ring. The second side clamping unit 122 also includes a second bearing, a third bearing, a first rotating shaft and a second rotating shaft. There are two second bearings, which are respectively fixed to the mutually opposite sides of the two third rotating rings. There are two third bearings, which are respectively fixed on the mutually away sides of the two fourth rotating rings. The first rotating shaft is inserted into the second connecting shaft, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two second bearings. The second rotating shaft is inserted into the third connecting shaft, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two third bearings. The two ends of the second rotating shaft are also rotatably connected to the two second rotating rings. In this way, the second bearing, the third rotating ring of the second rotating arm and the second connecting shaft can all rotate around the axis of the first rotating shaft. The third bearing, the fourth rotating ring of the second rotating arm, the second rotating ring of the first rotating arm and the third connecting shaft can all rotate around the axis of the second rotating shaft. The clamping mechanism 120 also includes a support and a guide seat. Among them, there are two supports, which are respectively arranged on the away sides of the lower parts of the two second rotating arms, and the middle part is respectively provided with mounting holes for the ends of the first rotating shaft to be inserted, which can effectively support the first rotating shaft.There are two guide seats, which are respectively arranged on the opposite sides of the lower part of the two first rotating arms. The middle part is provided with guide holes for the ends of the rollers to be inserted, which can support the rollers and limit the moving direction of the rollers. Among them, the first swivel cooperates with the guide seat to protect the first bearing. The third swivel cooperates with the support to protect the second bearing. The second swivel cooperates with the fourth swivel to protect the third bearing. The overall layout is relatively simple and reasonable, the space occupied is small, and the transmission efficiency is high, so that the connection efficiency and disconnection efficiency of the clamping mechanism 120 and the material trolley are high, and then the connection efficiency and disconnection efficiency of the two-dimensional code inertial navigation side traction AGV and the material trolley are high.

[0063] In a specific embodiment of the present invention, the clamping mechanism 120 further includes a limit detection sensor and a limit detection sheet of a circular plate structure. There are two limit detection sensors, which are respectively fixed on two guide seats and electrically connected to the main control board 113. There are two limit detection sheets, which are respectively sleeved on both ends of the roller. In this way, the transmission control accuracy is effectively improved.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", "one specific embodiment" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0065] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and the inventive concept of the present invention within the scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A QR code inertial navigation side-traction AGV, characterized in that: include: Limiting unit, clamping mechanism and docking and guiding unit; The clamping mechanism is arranged directly below the limiting unit and can clamp the bottom of one end of the material trolley; The docking and guiding unit is a long hollow structure, one end of which is fixed to a side surface of the limiting unit, and at least one side surface is provided with a guiding portion; The guide portion is in the shape of an elongated strip, one end of which extends toward the limiting unit, and the other end of which extends in a direction away from the limiting unit, and one side of which can be attached to the lower part of one side of the material trolley; The limiting unit can move toward the material trolley along with the guide portion and abut against one end of the material trolley; The clamping mechanism comprises a first side clamping unit, a second side clamping unit and a push rod motor; The first side clamping unit and the second side clamping unit are cross-arranged, the middle parts are rotatably connected, and the upper parts are bent toward each other to form a first clamping part and a second clamping part; A hinge seat is provided on a side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit; The push rod motor is integrally arranged at a side of the bottom of the first side clamping unit away from the bottom of the second side clamping unit, and the output shaft is rotatably connected to the hinge seat, and can drive the first clamping part of the first side clamping unit and the second clamping part of the second side clamping unit to move toward or away from each other; The first clamping part includes a first clamping plate and a first buffer sheet, the first clamping plate is a square structure, and a yielding groove is provided on the upper part; the second clamping part includes a second clamping plate and a second buffer sheet, the second clamping plate is a square structure, and one side surface is arranged opposite to one side surface of the first clamping plate; the shape of the first buffer sheet is adapted to the shape of the first clamping plate, and is attached to one side surface of the first clamping plate opposite to the second clamping plate; the shape of the second buffer sheet is adapted to the shape of the second clamping plate, and is attached to one side surface of the second clamping plate opposite to the first clamping plate; The first clamping portion further includes two first fixing bars, which are respectively fixed to opposite ends of a side surface of the first clamping plate away from the second clamping plate; the two first fixing bars are respectively fixedly connected to the upper portions of the two first rotating arms; the second clamping portion further includes two second fixing bars, which are respectively fixed to opposite ends of a side surface of the second clamping plate away from the first clamping plate; the two second fixing bars are respectively fixedly connected to the upper portions of the two second rotating arms; The first side clamping unit also includes the first rotating arm and the first connecting shaft; there are two first rotating arms, which are arranged opposite to each other; the lower part and the middle part of each first rotating arm are inclined, and the upper part is arranged vertically; the two ends of the first connecting shaft are respectively fixedly connected to the lower parts of the two first rotating arms, so that the two first rotating arms can rotate synchronously; the second side clamping unit also includes the second rotating arm, the second connecting shaft and the third connecting shaft; there are two second rotating arms, which are arranged opposite to each other; the two second rotating arms are respectively arranged crosswise with the two first rotating arms; the middle parts of the two second rotating arms are respectively rotatably connected with the middle parts of the two first rotating arms, and the upper parts are both arranged vertically; the two ends of the second connecting shaft are respectively connected to the two The lower part of the second rotating arm is fixedly connected, and the two ends of the third connecting shaft are respectively fixedly connected to the middle parts of the two second rotating arms, so that the two second rotating arms can rotate synchronously; the two ends of the first clamping plate are respectively fixedly connected to the upper parts of the two first rotating arms, and can rotate with the first rotating arms; the two ends of the second clamping plate are respectively fixedly connected to the upper parts of the two second rotating arms, and can rotate with the second rotating arms; the first connecting shaft is a hollow structure with open ends, and the lower parts of the two first rotating arms are respectively provided with a first rotating ring, and the middle parts are respectively provided with a second rotating ring; the first side clamping unit also includes a first bearing and a roller, and the first bearing is two, which are respectively fixed to the two first rotating rings The cam is connected to the first and second swivel arms of the present invention, and the cam is connected to the first and second swivel arms of the present invention respectively. The first rotating shaft is provided in the second connecting shaft, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two second bearings; the second rotating shaft is provided in the third connecting shaft, and the outer walls at both ends are respectively fixedly connected to the inner walls of the two third bearings; the two ends of the second rotating shaft are also rotatably connected to the two second rotating rings respectively; the second bearing, the third rotating ring of the second rotating arm and the second connecting shaft can all rotate around the axis of the first rotating shaft; the third bearing, the fourth rotating ring of the second rotating arm, the second rotating ring of the first rotating arm and the third connecting shaft can all rotate around the axis of the second rotating shaft; the clamping mechanism also includes a support and a guide seat;There are two said supports, which are respectively arranged at the opposite sides of the lower parts of the two second rotating arms, and the middle parts are respectively provided with mounting holes for inserting the ends of the first rotating shaft; there are two said guide seats, which are respectively arranged at the opposite sides of the lower parts of the two first rotating arms, and the middle parts are respectively provided with guide holes for inserting the ends of the rollers, which can support the rollers and limit the moving direction of the rollers. ; 2. The two-dimensional code inertial navigation side-traction AGV according to claim 1 is characterized in that: The number of the docking and guiding units is two, which are fixed in parallel at the lower part of the same side of the limiting unit, and one side is arranged facing each other; The lower parts of the opposite side surfaces of the two docking and guiding units are respectively provided with a guiding part.

3. The two-dimensional code inertial navigation side-traction AGV according to claim 2 is characterized in that: The two guide parts are arranged in parallel at one end close to the limiting unit, and are bent backward at one end away from the limiting unit.

4. The two-dimensional code inertial navigation side-traction AGV according to claim 2 is characterized in that: Each of the guide parts comprises a guide bar and a plurality of guide wheels; One end of the guide bar extends toward the limiting unit, and the other end extends in a direction away from the limiting unit; a plurality of guide wheels are evenly fixed on the guide bar along the extending direction of the guide bar.

5. The two-dimensional code inertial navigation side-traction AGV according to any one of claims 2 to 4, characterized in that: The limit unit is a square hollow structure, with a main control board fixed inside, an operation panel on the top, a heat dissipation strip at at least one end, and a brake member fixed at each of the opposite ends of a side surface close to the docking and guiding unit; The operation panel is provided with a plurality of buttons, indicator lights and speakers; Each of the buttons, the indicator lights and the speakers are electrically connected to the main control board.

6. The two-dimensional code inertial navigation side-traction AGV according to claim 5 is characterized in that: A groove is respectively provided at the bottom of the two opposite ends of the limiting unit; A groove is provided at the bottom of one end of each docking and guiding unit away from the limiting unit; a first clearance hole is provided at the middle of the bottom of each docking and guiding unit; Also includes a drive unit; The driving unit includes a driving motor, a driving wheel and a driven wheel; There are two drive motors, which are respectively fixed in the middle of the two docking and guiding units; There are two driving wheels, which are respectively arranged in the middle of the two docking and guiding units and are connected to the two driving motors one by one; each driving wheel is directly opposite to one of the first clearance holes; There are four driven wheels, which are respectively fixed in the four grooves.

7. The two-dimensional code inertial navigation side-traction AGV according to claim 5 is characterized in that: It also includes a QR code detection unit, an obstacle sensing unit and an arrival detection unit; The two-dimensional code detection unit is a square hollow structure, one end of which is fixedly connected to the lower part of a side of the limit unit close to the docking and guiding unit, one end of the interior is fixed with the clamping mechanism, the other end of the interior is fixed with the AGV code reader, the top is provided with a second clearance hole directly facing the clamping mechanism, and the bottom is provided with a light-transmitting hole directly facing the AGV code reader; the obstacle sensing unit is fixed to a side of the limit unit away from the docking and guiding unit; The number of the in-place detection units is two, which are respectively fixed at two opposite ends of the lower part of a side surface of the limit unit close to the docking and guiding unit; The clamping mechanism, the AGV code reader, the obstacle sensing unit and the arrival detection unit are all electrically connected to the main control board.

8. The two-dimensional code inertial navigation side-traction AGV according to claim 7 is characterized in that: The obstacle sensing unit is a laser scanner; The in-position detection unit is a displacement sensor.

9. The two-dimensional code inertial navigation side-traction AGV according to claim 5, characterized in that: Also includes a first anti-collision strip and a second anti-collision strip; The first anti-collision strip is fixed to the upper portion of a side surface of the limiting unit close to the docking and guiding unit, and two ends thereof extend toward two ends of the limiting unit respectively; The second anti-collision strip is disposed around the lower portion of a side surface of the limiting unit away from the docking and guiding unit and the lower portions of the opposite sides of the two docking and guiding units.

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