A positioning AGV vehicle

Abstract

The present invention discloses a positioning AGV vehicle, which relates to the field of logistics automation technology. A Mecanum wheel is provided at the bottom of the vehicle body, the lifting frame is provided in the vehicle body, a lifting mechanism is installed on both sides of the vehicle body, the lifting mechanism is connected to the lifting frame, the lifting mechanism includes a lifting cylinder, the lifting cylinder is fixed on both sides of the vehicle body, a first guide wheel and a second guide wheel are provided on the vehicle body, a wire rope is connected to the driving end of the lifting cylinder, the lifting frame is raised and lowered by the lifting cylinder, the left guide wheel is used to limit the position during the rise to prevent the position from being offset, and the gap between the right guide wheel and the lifting frame is used to adjust the position according to demand during the fall, the first gear and the second gear are driven by a motor to move synchronously, so that the base plate is rotated, and after the position is determined, the positioning hole on the base plate can be inserted into the positioning pin for fixing.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation, in particular to a positioning AGV vehicle. Background Art

[0002] The AGV reads the QR code on the ground to obtain the coordinate information of the ground facing the QR code. The AGV reads and identifies the QR code through its own high-resolution telephoto camera. At the same time, the rotation of the QR code image in the camera coordinates is integrated with the electronic compass data to determine the precise direction of the AGV. The AGV can be completely positioned by combining the information encoded in the QR code and its position information in the image. Similarly, the AGV can obtain the positional relationship between the AGV and the goods by reading the QR code on the goods being transported.

[0003] However, during the operation of the AGV, there is often a deviation between the preset position and the actual position reached by the AGV, resulting in inaccurate position for transporting or picking up workpieces. Therefore, it is particularly important to set up an AGV that can adjust its position during operation. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a positioning AGV vehicle, which solves the problem of poor accuracy of the prior devices.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a positioning AGV vehicle, including a vehicle body, a Mecanum wheel is provided at the bottom of the vehicle body, a lifting frame is provided in the vehicle body, a lifting mechanism is installed on both sides of the vehicle body, the lifting mechanism is connected to the lifting frame, the lifting mechanism includes a lifting cylinder, the lifting cylinder is fixed on both sides of the vehicle body, a first guide wheel and a second guide wheel are provided on the vehicle body, a driving end of the lifting cylinder is connected to a steel wire rope, one end of the steel wire rope is sequentially sleeved on the first guide wheel and the second guide wheel A lifting ring is provided at the bottom of the lifting frame, and the other end of the wire rope is fixedly connected to the lifting ring. A positioning pin is provided on the lifting frame, and a positioning hole is provided on the base plate. The positioning pin can be embedded in the positioning hole. A guide mounting plate is provided on the inner wall of the body, and a plurality of left guide wheel brackets and right guide wheel brackets are provided on the guide mounting plate. A left guide wheel bracket is provided on the left guide wheel bracket, and a right guide wheel bracket is provided on the right guide wheel bracket. The left guide wheel is in surface contact with one side of the lifting frame, and there is a gap between the right guide wheel and the other side of the lifting frame.

[0006] Preferably, a rotation driving component is provided on the lifting frame.

[0007] Preferably, the rotating driving component includes a motor, a first rotating wheel is provided on the driving end of the motor, a base plate is provided on the first rotating wheel, a base is provided at the bottom of the vehicle body, a second rotating wheel is provided on the base, a belt is provided between the first rotating wheel and the second rotating wheel, a limiting column is fixedly connected to the second rotating wheel, a groove is provided in the limiting column, a first gear is provided on the lifting frame, the first gear is fixed to the upper end of the lifting frame, a second gear is provided on the side wall of the lifting frame, the first gear is meshed with the second gear, a limiting block is provided under the second gear, and the limiting block can be embedded in the groove.

[0008] Preferably, a reducer is installed inside the Mecanum wheel, a first motor is provided on the vehicle body, a driving end of the first motor is connected to the Mecanum wheel, and a shock absorbing component is passed through the first motor.

[0009] Preferably, the shock absorbing component includes a mounting plate, which is mounted above the first motor, and shock absorbing blocks are mounted on both sides of the mounting plate. A shock absorbing column is arranged inside the shock absorbing block, and a disc spring is arranged outside the shock absorbing column. A fixing block is installed below the shock absorbing column, and the fixing block is mounted on the vehicle body.

[0010] Preferably, a battery is provided in the vehicle body.

[0011] Preferably, the motor is covered with a protective shell, and the protective shell is fixed on the ground.

[0012] Preferably, the number of the positioning pins is 4. Beneficial Effects

[0013] The present invention provides a positioning AGV vehicle, which has the following beneficial effects: the present invention has a simple structure and is easy to use. The lifting frame is raised and lowered by a lifting cylinder. When rising, the left guide wheel is used to limit the position to prevent the position from shifting. When descending, the position can be adjusted according to needs through the gap between the right guide wheel and the lifting frame. The motor drives the first gear and the second gear to move synchronously, so that the base plate is rotated. After the position is determined, the positioning hole on the base plate can be inserted into the positioning pin for fixation. At the same time, the flatness of the base plate is also guaranteed. The shock-absorbing component ensures that the vehicle body runs smoothly, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention.

[0015] Figure 2 It is a schematic diagram of the structure of the present invention.

[0016] Figure 3 It is a top view of the present invention.

[0017] Figure 4 It is a structural schematic diagram of the lifting cylinder of the present invention.

[0018] Figure 5 It is a structural schematic diagram of the guide mounting plate of the present invention.

[0019] Figure 6 It is a schematic diagram of the structure of the Mecanum wheel of the present invention.

[0020] Figure 7 It is a schematic diagram of the structure of the Mecanum wheel of the present invention.

[0021] Figure 8 It is a cross-sectional view of the Mecanum wheel of the present invention.

[0022] Fig. 9 It is a cross-sectional view of the Mecanum wheel of the present invention.

[0023] In the figure: 1. vehicle body; 2. Mecanum wheel; 3. lifting frame; 4. base plate; 5. lifting cylinder; 6. first guide wheel; 7. second guide wheel; 8. wire rope; 9. lifting ring; 10. positioning pin; 11. base; 12. motor; 13. first rotating wheel; 14. second rotating wheel; 15. belt; 16. limiting column; 17. left guide wheel bracket; 18. first gear; 19. second gear; 20. limiting block; 21. guide mounting plate; 22. right guide wheel bracket; 23. left guide wheel; 24. reducer; 25. first motor; 26. mounting plate; 27. shock absorbing block; 28. shock absorbing column; 29. ​​disc spring; 30. fixing block; 31. battery; 32. protective shell; 33. right guide wheel. Implementation

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-9The present invention provides a technical solution: a positioning AGV vehicle, comprising a vehicle body 1, a Mecanum wheel 2 is provided at the bottom of the vehicle body 1, a lifting frame 3 is provided in the vehicle body 1, lifting mechanisms are installed on both sides of the vehicle body 1, the lifting mechanisms are connected to the lifting frame 3, the lifting mechanisms include lifting cylinders 5, the lifting cylinders 5 are fixed on both sides of the vehicle body 1, a first guide wheel 6 and a second guide wheel 7 are provided on the vehicle body 1, a steel wire rope 8 is connected to the driving end of the lifting cylinder 5, one end of the steel wire rope 8 is sequentially sleeved on the first guide wheel 6 and the second guide wheel 7, a lifting ring 9 is provided at the bottom of the lifting frame 3, and the other end of the steel wire rope 8 is fixedly connected to the lifting ring 9, The lifting frame 3 is provided with a positioning pin 10, and the base plate 4 is provided with a positioning hole, and the positioning pin 10 can be embedded in the positioning hole. The inner wall of the vehicle body 1 is provided with a guide mounting plate 21, and the guide mounting plate 21 is provided with a plurality of left guide wheel brackets 17 and right guide wheel brackets 22. The left guide wheel bracket 17 is provided with a left guide wheel 23, and the right guide wheel bracket 22 is provided with a right guide wheel 33. The left guide wheel 23 is in surface contact with one side of the lifting frame 3, and there is a gap between the right guide wheel 33 and the other side of the lifting frame 3; the lifting frame 3 is provided with a rotating drive component; the rotating drive component includes a motor 12, and a driving end of the motor 12 is provided with a A first rotating wheel 13 is provided, a base plate 4 is provided on the first rotating wheel 13, a base 11 is provided at the bottom of the vehicle body 1, a second rotating wheel 14 is provided on the base 11, a belt 15 is provided between the first rotating wheel 13 and the second rotating wheel 14, a limiting column 16 is fixedly connected to the second rotating wheel 14, a groove is provided in the limiting column 16, a first gear 18 is provided on the lifting frame 3, the first gear 18 is fixed to the upper end of the lifting frame 3, a second gear 19 is provided on the side wall of the lifting frame 3, the first gear 18 is meshed with the second gear 19, a limiting block 20 is provided below the second gear 19, and the limiting block 20 can be embedded in the groove; the Mecanum wheel 2 is provided inside A reducer 24 is installed on the vehicle body 1, a first motor 25 is provided on the vehicle body 1, a driving end of the first motor 25 is connected to the Mecanum wheel 2, and a shock absorbing component is passed through the first motor 25; the shock absorbing component includes a mounting plate 26, the mounting plate 26 is installed above the first motor 12, shock absorbing blocks 27 are installed on both sides of the mounting plate 26, a shock absorbing column 28 is provided inside the shock absorbing block 27, a disc spring 29 is provided outside the shock absorbing column 28, a fixing block 30 is installed below the shock absorbing column 28, and the fixing block 30 is installed on the vehicle body 1; a battery 31 is provided in the vehicle body 1; a protective shell 32 is provided outside the motor 12, and the protective shell 32 is fixed to the ground.

[0026] By those skilled in the art, the components in this case are connected in sequence. The specific connection and operation sequence should refer to the following working principle. The detailed connection means are well-known technologies in the field. The following mainly introduces the working principle and process.

[0027] Embodiment: When in use, firstly energize the battery 31, and make the steel wire rope 8 slide on the first guide wheel 6 and the second guide wheel 7 by pulling the oil cylinder 5, thereby driving the lifting frame 3 to move up and down, and then adjusting the height of use. When the lifting frame 3 is in the ascending state, there is no gap between the left guide wheel 23 and the lifting frame 3, and the left guide wheel 23 is used to limit the lifting frame 3 and prevent shaking during walking. When the lifting frame 3 is descending, there is a gap between the right guide wheel 33 and the lifting frame 3, thereby leaving a certain space for the guide to avoid, and then the accurate position can be freely determined during the descent. When the rotation function is realized, the vehicle body 1 is moved to the base 11 position, so that the limit block 20 is embedded in the limit column 16, start the motor 12, so that the belt 15 drives the first rotating wheel 13 and the second rotating wheel 14 to rotate synchronously, so that the second gear 19 drives the first gear 18 to rotate, and then the base plate 4 rotates. When the lifting and rotation are completed, the positioning pin 10 under the vehicle body 1 is inserted into the positioning hole on the base plate 4 to determine the position and ensure that the base plate 4 returns to 0 degrees, while maintaining the overall flatness of the vehicle body 1. By setting the reducer 24 in the Mecanum wheel 2, the Mecanum wheel 2 hub replaces the RV reducer 24 housing, thereby reducing the manufacturing cost, improving the overall strength, and saving space. The shock-absorbing block 27 allows the vehicle body 1 to run smoothly during the working process.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0029] 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. A positioning AGV vehicle, comprising a vehicle body (1), characterized in that: The bottom of the vehicle body (1) is provided with a Mecanum wheel (2), a lifting frame (3) is provided inside the vehicle body (1), lifting mechanisms are installed on both sides of the vehicle body (1), the lifting mechanisms are connected to the lifting frame (3), the lifting mechanisms include a lifting cylinder (5), the lifting cylinder (5) is fixed on both sides of the vehicle body (1), the vehicle body (1) is provided with a first guide wheel (6) and a second guide wheel (7), the driving end of the lifting cylinder (5) is connected to a steel wire rope (8), one end of the steel wire rope (8) is sequentially sleeved on the first guide wheel (6) and the second guide wheel (7), the bottom of the lifting frame (3) is provided with a lifting ring (9), the other end of the steel wire rope (8) is The lifting frame (3) is fixedly connected to the lifting ring (9), a positioning pin (10) is provided on the lifting frame (3), a positioning hole is provided on the base plate (4), and the positioning pin (10) can be embedded in the positioning hole. The inner wall of the vehicle body (1) is provided with a guide mounting plate (21), and the guide mounting plate (21) is provided with a plurality of left guide wheel brackets (17) and right guide wheel brackets (22). The left guide wheel bracket (17) is provided with a left guide wheel (23), and the right guide wheel bracket (22) is provided with a right guide wheel (33). The left guide wheel (23) is in surface contact with one side of the lifting frame (3), and a gap is provided between the right guide wheel (33) and the other side of the lifting frame (3).

2. A positioning AGV vehicle according to claim 1, characterized in that: The lifting frame (3) is provided with a rotation driving component.

3. A positioning AGV vehicle according to claim 2, characterized in that: The rotary drive component comprises a motor (12), a first rotating wheel (13) is provided on a driving end of the motor (12), a base plate (4) is provided on the first rotating wheel (13), a base (11) is provided at the bottom of the vehicle body (1), a second rotating wheel (14) is provided on the base (11), a belt (15) is provided between the first rotating wheel (13) and the second rotating wheel (14), a limiting column (16) is fixedly connected to the second rotating wheel (14), a groove is provided in the limiting column (16), a first gear (18) is provided on the lifting frame (3), the first gear (18) is fixed to the upper end of the lifting frame (3), a second gear (19) is provided on the side wall of the lifting frame (3), the first gear (18) is meshed with the second gear (19), a limiting block (20) is provided below the second gear (19), and the limiting block (20) can be embedded in the groove.

4. A positioning AGV vehicle according to claim 1, characterized in that: A speed reducer (24) is installed inside the Mecanum wheel (2), a first motor (25) is provided on the vehicle body (1), a driving end of the first motor (25) is connected to the Mecanum wheel (2), and a shock absorbing component is passed through the first motor (25).

5. A positioning AGV vehicle according to claim 5, characterized in that: The shock absorbing component comprises a mounting plate (26), wherein the mounting plate (26) is mounted above the first motor (25), shock absorbing blocks (27) are mounted on both sides of the mounting plate (26), a shock absorbing column (28) is arranged inside the shock absorbing block (27), a disc spring (29) is sleeved outside the shock absorbing column (28), a fixing block (30) is mounted below the shock absorbing column (28), and the fixing block (30) is mounted on the vehicle body (1).

6. A positioning AGV vehicle according to claim 1, characterized in that: A battery (31) is arranged in the vehicle body (1).

7. A positioning AGV vehicle according to claim 2, characterized in that: The motor (12) is covered with a protective shell (32) on the outside, and the protective shell (32) is fixed on the ground.

8. The positioning AGV vehicle according to claim 1, characterized in that: The number of the positioning pins (10) is 4.

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