Vehicle-mounted bottom separation type linear guide AGV and control method

Abstract

The invention discloses a vehicle-mounted bottom separation type linear guide AGV and a control method, belongs to the technical field of AGVs, and solves the problem that the existing AGVs are independently arranged and have no vehicle connecting and mounting functions, so that the AGVs can be deployed only when personnel leave a vehicle in an outdoor scene, four second electric push rods on a bottom plate push a supporting plate to realize overall lifting of the AGVs, and the AGVs are independently arranged and have no vehicle connecting and mounting functions. The bottom stable mounting and convenient separation of the AGV and the vehicle are realized; aiming at the problems that course angle deviation accumulation easily occurs due to external interference during long-distance driving of an existing AGV in an open environment without a fixed track and a dynamic correction mechanism is lacked, path parameters are preset in a controller, a course angle is monitored in real time in combination with an attitude measurement sensor, and if the deviation exceeds a threshold value during driving, differential adjustment is immediately performed for correction; and meanwhile, the laser probe and the laser signal receiver assist in positioning, so that offset expansion is effectively avoided, the linear guide precision is improved, and the use effect of the AGV in an outdoor scene is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AGV, in particular to a vehicle-mounted bottom-mounted separated linear guide AGV and a control method. BACKGROUND

[0002] AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a specified guiding path, including running and parking devices, safety protection devices and various transfer functions. AGV can automatically transport goods or materials from the starting point to the destination without manual guidance.

[0003] The existing AGV device is usually independently set and does not have the function of being connected and mounted with the vehicle. In outdoor application scenarios, it cannot meet the functional requirements of users who do not leave the vehicle to deploy the AGV device. Moreover, the existing AGV lacks a dynamic correction mechanism and is prone to cumulative heading angle deviation due to external interference during long-distance travel in an open environment without fixed tracks. Therefore, a vehicle-mounted bottom-mounted separated linear guide AGV and a control method are proposed. SUMMARY

[0004] The present application aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, one object of the present application is to provide a vehicle-mounted bottom-mounted separated linear guide AGV and a control method, which can realize stable mounting and convenient separation of AGV and vehicle, effectively avoid deviation expansion, improve linear guide precision, and optimize the use effect of AGV in outdoor scenarios.

[0006] To achieve the above-mentioned object, the present application provides the following technical scheme: a vehicle-mounted bottom-mounted separated linear guide AGV, comprising: a bottom plate, the bottom plate is fixedly connected with an intermediate shell and two side shells, the two side shells are located on both sides of the intermediate shell, and a laser probe is installed at the bottom of the bottom plate; four second electric push rods are installed on the bottom plate, the output shaft ends of the four second electric push rods penetrate the bottom of the bottom plate and are fixedly connected with support plates; a walking mechanism is installed on both sides of the bottom plate for driving the bottom plate to move; a through slot is formed on the outer sides of the two side shells, and mounting plates are fixedly connected to the sides of the bottom plate through supports, second reduction motors are installed at the bottom of the mounting plates, the output shaft ends of the second reduction motors penetrate the mounting plates and are fixedly connected with second hinge joints, second hinge rods are hingedly connected to the two ends of the second hinge joints, and third hinge rods are hingedly connected to the other ends of the second hinge rods; The mounting plate is fixedly connected with a backing plate, the backing plate is fixedly connected with a pipe body, the end of the third articulated rod is articulated with an expansion plate, the outside of the expansion plate is fixedly connected with a hanger, the inside of the hanger is fixedly connected with a rubber pad, the outside of the expansion plate is provided with two rows of plug-in parts, the expansion plate is slidably connected with the pipe body, the backing plate is fixedly connected with two second electromagnetic latches, the output shaft end of the second electromagnetic latch is fixedly connected with a plug, the outside of the pipe body is provided with two plug-in interfaces, and the plug is slidably connected in the plug-in interface.

[0007] Preferably, the bottom of the mounting plate is provided with two first electromagnetic latches, the outside of the expansion plate is provided with a through hole, and the output shaft end of the first electromagnetic latch penetrates through the through hole.

[0008] Preferably, the intermediate shell is fixedly connected with two fixed blocks, a first rotating shaft is rotatably connected between the two fixed blocks, a triangular frame is fixedly connected to the outside of the first rotating shaft, and a flag is fixedly connected to the outside of the triangular frame; the outside of the triangular frame is rotatably connected with a second rotating shaft, the two ends of the second rotating shaft are articulated with a first articulated rod, two first electric push rods are installed on the intermediate shell, the output shaft end of each of the two first electric push rods is fixedly connected with a first articulated joint, and the first articulated joint is articulated with the first articulated rod.

[0009] Preferably, the walking mechanism comprises two first mounting frames, each of the two first mounting frames is provided with a traveling wheel at the bottom, each of the two first mounting frames is provided with a first speed reducer motor at the outside, the output shaft of the first speed reducer motor is in transmission connection with the traveling wheel, the outside of the bottom plate is fixedly connected with a second mounting frame, and the second mounting frame is provided with an auxiliary wheel at the bottom.

[0010] Preferably, the bottom plate is provided with a laser signal receiver and a remote control signal receiver, and a controller is also installed on the bottom plate, and a posture measuring sensor is installed on the controller.

[0011] Preferably, a plurality of handles are provided on the outside of the intermediate shell.

[0012] Preferably, two warning lights are installed on the outside of the bottom plate.

[0013] Preferably, a storage battery is installed on the bottom plate, the storage battery is in electrical connection with the controller, the controller is in electrical connection with the laser probe, the warning light, the first electric push rod, the second electric push rod, the first speed reducer motor, the second speed reducer motor, the first electromagnetic latch and the second electromagnetic latch, the laser probe is in signal connection with the laser signal receiver, and the laser signal receiver and the remote control signal receiver are in signal connection with the controller.

[0014] A control method of a vehicle-mounted bottom-mounted separated linear guide AGV, comprising the following steps: S1, moving the device to the bottom of the transport vehicle, and then starting four second electric push rods, the four second electric push rods push the supporting plate to the ground, and the four second electric push rods continuously push the supporting plate to push the bottom plate upward; S2, start the second reduction motor to drive the second hinge to rotate, the second hinge pushes the telescopic plate through the second hinge rod and the third hinge rod, continuously adjusts the height of the device supported to make the telescopic plate flush with the two sides of the frame, reversely retracts the telescopic plate to make the hanger tightly hung on the frame, then starts the second electromagnetic bolt to push the plug-in head to pass through the plug-in interface and be inserted into the plug-in part, fixes the telescopic plate, and then retracts the supporting plate, completes the action of mounting the device on the bottom of the transport vehicle; S3, when it is needed to separate the device from the bottom of the transport vehicle, first lower the supporting plate to the ground to support the device, push the telescopic plate to make the hanger separate from the frame, then retract the four second electric push rods to make the running wheels contact the ground, complete the action of separating and landing the device from the bottom of the transport vehicle; S4, input the linear path parameters in the controller of the device, set the coordinates of the starting point and the ending point, preset the linear driving speed as 0.4-0.8 m / s, and set the deviation threshold as the heading angle deviation <=0.8°; S5, confirm the starting point coordinates, start the attitude measurement sensor, record the initial heading angle as 0°, if the attitude measurement sensor shows that the initial heading angle has a deviation, adjust the rotating speeds of the left and right running wheels through the differential of the first reduction motor to make the heading angle return to 0°, complete the initial alignment of the device and the linear path; S6, in the driving process, if the attitude measurement sensor detects that the heading angle deviation exceeds the deviation threshold, immediately correct it through the differential adjustment of the first reduction motor to avoid the initial deviation from expanding, until the device moves to the ending point coordinates.

[0015] Compared with the prior art, the beneficial effects of the present application are: The present application solves the problem that the existing AGV is independently set, has no vehicle connection and mounting function, and personnel need to leave the vehicle to deploy the AGV in an outdoor scene, realizes the overall lifting of the AGV through the four second electric push rods pushing the supporting plate on the bottom plate, and realizes the stable mounting and convenient separation of the AGV and the vehicle; In addition, in view of the problems that the existing AGV is prone to cumulative deviation of the heading angle due to external interference during long-distance driving in an open environment without fixed tracks, and lacks a dynamic correction mechanism, path parameters are preset in the controller, the heading angle is monitored in real time by combining the attitude measurement sensor, the path is aligned by differentially adjusting the rotation speed of the left and right driving wheels in the initial stage, and if the deviation exceeds the threshold value during driving, differential adjustment is immediately performed for correction, and the laser probe and the laser signal receiver assist positioning, effectively avoiding the expansion of the deviation, improving the straight-line guiding precision, and optimizing the use effect of the AGV in the outdoor scene. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a structure schematic diagram of the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 2 It is a structure schematic diagram of the triangular frame in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 3 It is a structure schematic diagram of the second hinged rod in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 4 It is a structure schematic diagram of the first hinged rod in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 5 It is a structure schematic diagram of the first mounting frame in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 6 It is a structure schematic diagram of the controller in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 7 It is a structure schematic diagram of the second hinged joint in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 8 It is a structure schematic diagram of the telescopic plate in the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 9 It is a structure schematic diagram of the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application. Figure 3 Figure 10 It is a heading correction flowchart of the control method of the vehicle-mounted bottom-mounted separated straight-line guiding AGV of the application.

[0017] ​In the figure: 1, bottom plate; 2, middle shell; 3, two side shells; 4, laser probe; 5, warning light; 6, traveling wheel; 7, support plate; 8, telescopic plate; 9, hanger; 10, auxiliary wheel; 11, rubber pad; 12, through slot; 13, fixing block; 14, first rotating shaft; 15, triangular frame; 16, second rotating shaft; 17, first articulated rod; 18, first articulated joint; 19, first electric push rod; 20, second electric push rod; 21, storage battery; 22, first mounting bracket; 23, first speed reduction motor; 24, laser signal receiver; 25, remote control signal receiver; 26, controller; 27, attitude measurement sensor; 28, second mounting bracket; 29, support; 30, mounting plate; 31, second speed reduction motor; 32, second articulated joint; 33, second articulated rod; 34, third articulated rod; 35, pad plate; 36, first electromagnetic bolt; 37, second electromagnetic bolt; 38, plug-in part; 39, pipe body; 40, plug-in head; 41, plug-in port; 42, through hole; 43, handle; 45, identification flag. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0019] Please refer to Figures 1-10 The embodiments of the present application provide a vehicle-mounted bottom-mounted separated linear guide AGV and a control method, which comprise a bottom plate 1, a middle shell 2, two side shells 3, a laser probe 4, a walking mechanism, a telescopic plate 8 and a hanger 9.

[0020] The middle shell 2 and the two side shells 3 are fixedly connected to the bottom plate 1, and the laser probe 4 is installed at the bottom of the bottom plate 1. Four second electric push rods 20 are installed on the bottom plate 1, and the output shaft ends of the four second electric push rods 20 all penetrate through the bottom of the bottom plate 1 and are fixedly connected with support plates 7. The walking mechanism is installed on both sides of the bottom plate 1 and is used to drive the bottom plate 1 to move.

[0021] Through slots 12 are formed on the outer sides of the two side shells 3, and mounting plates 30 are fixedly connected to the sides of the bottom plate 1 through supports 29. Second speed reduction motors 31 are installed at the bottoms of the mounting plates 30, the output shaft ends of the second speed reduction motors 31 penetrate through the mounting plates 30 and are fixedly connected with second articulated joints 32, and one second articulated rod 33 is articulated to each end of the second articulated joint 32. The other end of the second articulated rod 33 is articulated with a third articulated rod 34. The mounting plate 30 is fixedly connected with a backing plate 35, the backing plate 35 is fixedly connected with a pipe body 39, the telescopic plate 8 is hingedly installed at the end of the third hinged rod 34, the hanger 9 is fixedly connected to the outside of the telescopic plate 8, the inside of the hanger 9 is fixedly connected with a rubber pad 11, two rows of plug-in parts 38 are arranged on the outside of the telescopic plate 8, the telescopic plate 8 is slidably connected with the pipe body 39, two second electromagnetic latches 37 are fixedly connected on the backing plate 35, the output shaft end of the second electromagnetic latch 37 is fixedly connected with a plug-in head 40, two plug-in interfaces 41 are arranged on the outside of the pipe body 39, and the plug-in head 40 is slidably connected in the plug-in interface 41.

[0022] In the application, the bottom separation of the AGV device is realized through the mounting and separation actions. After the AGV device moves to the bottom of the transport vehicle, the four second electric push rods 20 are synchronously extended to push the supporting plate 7 to the ground and continuously apply force. Due to the reaction force, the bottom plate 1 is lifted upwards until the overall height of the AGV device approaches the bottom of the vehicle frame; Then the second speed reduction motor 31 is started to drive the second hinged head 32 to rotate, the angle of the second hinged rod 33 and the third hinged rod 34 is converted into thrust to push the telescopic plate 8 to linearly extend along the pipe body 39, the pipe body 39 plays a guiding role to avoid the deviation of the telescopic plate 8; after the second electric push rod 20 makes the telescopic plate 8 flush with the two sides of the vehicle frame, the telescopic plate 8 is retracted in the opposite direction, the hanger 9 is buckled to the vehicle frame, the rubber pad 11 in the hanger 9 increases the friction force to prevent sliding and buffer vibration.

[0023] In addition, the second electromagnetic latch 37 is extended, the plug-in head 40 is inserted into the plug-in part 38 on the telescopic plate 8 through the plug-in interface 41 of the pipe body 39, and the position of the telescopic plate 8 is locked to ensure that the mounting is firm.

[0024] When separation is needed, the second electric push rod 20 is first extended to let the supporting plate 7 support the AGV device, then the two second electromagnetic latches 37 are retracted, the telescopic plate 8 is pushed out and the hanger 9 is separated from the vehicle frame through the reverse driving of the second speed reduction motor 31, and finally the second electric push rod 20 is retracted to let the driving wheel 6 touch the ground, so that the AGV device restores the autonomous moving state.

[0025] The bottom of the mounting plate 30 is provided with two first electromagnetic latches 36, the outside of the telescopic plate 8 is provided with a through hole 42, and the output shaft end of the first electromagnetic latch 36 penetrates through the through hole 42. After the driving wheel 6 touches the ground, the telescopic plate 8 is retracted, then the first electromagnetic latch 36 is inserted into the through hole 42, and the retracted telescopic plate 8 is fixed to prevent shaking.

[0026] The intermediate shell 2 is fixedly connected with two fixed blocks 13, the first rotating shaft 14 is rotatably connected between the two fixed blocks 13, the triangular frame 15 is fixedly connected to the outside of the first rotating shaft 14, and the identification flag 45 is fixedly connected to the outside of the triangular frame 15; the second rotating shaft 16 is rotatably connected to the outside of the triangular frame 15, the first hinged rod 17 is hinged to both ends of the second rotating shaft 16, the first electric push rod 19 is installed on the intermediate shell 2, and the first hinged head 18 is fixedly connected to the output shaft end of the first electric push rod 19.

[0027] The key mechanical transmission principle of the mounting mechanism is step by step disassembled, including the pre-docking stage, the docking stage, the locking stage and the separation stage.

[0028] In the pre-docking stage, the AGV device is lifted and the posture is adjusted, the power input is the four second electric push rods 20 symmetrically installed on the bottom plate 1, and the controller 26 controls the extension and retraction speed of the second electric push rod 20. When the AGV device moves to the lower side of the transport vehicle, the controller 26 triggers the second electric push rod 20 to extend, the output shaft of the second electric push rod 20 pushes the support plate 7 to move vertically downward until the support plate 7 completely touches the ground.

[0029] The reaction force realizes lifting by continuously extending the second electric push rod 20, and after the support plate 7 is subjected to the ground reaction force, the upward jacking force is transmitted to the bottom plate 1 through the output shaft of the second electric push rod 20, driving the whole device to vertically rise.

[0030] In the docking stage, the second reduction motor 31 is installed at the bottom of the mounting plate 30, the output shaft of the second reduction motor 31 is connected with the second hinged head 32, and the motor rotation drives the second hinged head 32 to rotate synchronously. When the second hinged head 32 rotates, the second hinged rod 33 hinged at both ends of the second hinged head 32 swings to push the third hinged rod 34 hinged at the other end; the tail end of the third hinged rod 34 is hinged with the telescopic plate 8, and the telescopic plate 8 is in sliding fit with the pipe body 39, so that the swing of the third hinged rod 34 is constrained as a linear thrust along the axial direction of the pipe body 39, driving the telescopic plate 8 to extend to the vehicle frame direction; the second reduction motor 31 stops rotating, and at this time, the end portions of the two telescopic plates 8 both exceed the vehicle frame on both sides.

[0031] The second reduction motor 31 reversely rotates to drive the second hinged rod 33 and the third hinged rod 34 to pull back the telescopic plate 8, so that the hanger 9 is buckled on the vehicle frame cross beam, and the rubber pad 11 not only avoids the scratch of the vehicle frame caused by direct metal contact, but also prevents the AGV from sliding transversely after being mounted through the friction force.

[0032] When the lock is locked, the rack 9 is buckled, the controller 26 starts the two second electromagnetic plugs 37 on the backing plate 35, the output shaft pushes the plug-in head 40 through the plug-in interface 41 of the pipe body 39, and inserts the plug-in part 38 of the telescopic plate 8 to realize the axial position locking of the telescopic plate 8, and prevent the telescopic plate 8 from being accidentally retracted during the mounting process.

[0033] When the AGV device is unlocked and lowered, the second electric push rod 20 is extended, the supporting plate 7 touches the ground and supports the overall weight of the AGV. The controller 26 first controls the second electromagnetic plug 37 to be powered off, the plug-in head 40 exits the plug-in part 38, and the telescopic plate 8 is unlocked. Then the second reduction motor 31 rotates forward, pushing the telescopic plate 8 to extend through the second hinge rod 33 and the third hinge rod 34, so that the rack 9 is separated from the vehicle frame.

[0034] Subsequently, the second electric push rod 20 continues to retract, causing the bottom plate 1 to move downward with the running wheel 6 until the running wheel 6 is completely in contact with the ground, and the AGV device restores the autonomous movement ability. If the AGV device is not in the mounting state, the controller 26 starts the first electromagnetic plug 36, the output shaft of which passes through the through hole 42 of the telescopic plate 8 to limit the radial shaking of the telescopic plate 8.

[0035] In use, the triangular frame 15 on the middle shell 2 controls the identification flag 45 through the first electric push rod 19, and the first electric push rod 19 retracts to drive the first hinge rod 17, so that the triangular frame 15 rotates around the first rotating shaft 14 to realize the unfolding and folding of the identification flag 45; when unfolded, it can prompt the position of the AGV device, which is convenient for on-site personnel to identify.

[0036] Among them, the walking mechanism includes two first mounting frames 22, the bottom of each of the two first mounting frames 22 is provided with a running wheel 6, and the outside of each of the two first mounting frames 22 is provided with a first reduction motor 23, the output shaft of the first reduction motor 23 is in transmission connection with the running wheel 6, the outside of the bottom plate 1 is fixedly connected with a second mounting frame 28, and the bottom of the second mounting frame 28 is provided with an auxiliary wheel 10.

[0037] The bottom plate 1 is provided with a laser signal receiver 24 and a remote control signal receiver 25, and the bottom plate 1 is also provided with a controller 26, and the controller 26 is provided with a posture measurement sensor 27.

[0038] The linear guide system is based on posture detection and laser assisted positioning, the posture measurement sensor 27 is started, the initial heading angle is recorded as 0°, and when the heading angle deviates, the left and right running wheels are adjusted in speed to align.

[0039] The AGV device starts at the starting point, the controller 26 starts the posture measurement sensor 27, collects the heading angle at this time as the reference 0°, that is, the X-axis direction of the virtual path.

[0040] When the AGV device travels at a preset speed, the attitude measurement sensor 27 collects the real-time heading angle at every 20 ms, and the controller 26 calculates the real-time deviation Δαt=αt-0°; at the same time, the laser probe 4 continuously scans the preset straight-line guide mark on the ground, and the straight-line guide mark is converted into positioning data by the laser signal receiver 24, and the deviation data of the attitude sensor is verified, and the data of the two are consistent, and it is determined that the deviation is effective.

[0041] When Δαt>0.8°, the controller 26 immediately triggers dynamic correction. The rotational speeds of the right and left traveling wheels 6 of the AGV device are adjusted to correct the heading angle of the AGV device.

[0042] After the AGV device is lowered to the ground, the straight-line path parameters are input into the controller 26, the starting point and ending point coordinates, the traveling speed and the heading angle deviation threshold are set; the attitude measurement sensor 27 is started, and the initial heading angle is recorded; if the attitude measurement sensor 27 detects that the initial heading angle deviates, the controller 26 controls the left and right first reduction motors 23 to output different rotational speeds, so that the direction is adjusted through the rotational speed difference of the traveling wheels 6, and the heading angle returns to 0°.

[0043] Further, in the process of traveling, the attitude measurement sensor 27 continuously collects the heading angle data and transmits it to the controller 26; if the deviation exceeds the threshold of 0.8°, the controller 26 immediately adjusts the rotational speeds of the left and right traveling wheels 6 to avoid the deviation from expanding until the AGV reaches the end point.

[0044] In addition, the laser probe 4 at the bottom of the bottom plate 1 scans the ground path mark in real time, the laser signal receiver 24 receives the signal and feeds back to the controller 26, which assists in calibrating the position and further improves the straight-line guide accuracy.

[0045] Some auxiliary functions of the device are provided, such as: a plurality of handles 43 are provided on the outside of the middle shell 2, two warning lights 5 are installed on the outside of the bottom plate 1, the warning lights 5 on both sides of the bottom plate 1 automatically light up when the AGV device is working, reminding the surrounding personnel to avoid collision, and the plurality of handles 43 of the middle shell 2 facilitate manual handling of the AGV device; the remote control signal receiver 25 can receive external remote control instructions to realize emergency stop or adjustment when the controller 26 fails.

[0046] Among them, the bottom plate 1 is provided with a storage battery 21, the storage battery 21 is electrically connected with the controller 26, the controller 26 is electrically connected with the laser probe 4, the warning light 5, the first electric push rod 19, the second electric push rod 20, the first reduction motor 23, the second reduction motor 31, the first electromagnetic bolt 36 and the second electromagnetic bolt 37, the laser probe 4 is signal connected with the laser signal receiver 24, and the laser signal receiver 24 and the remote control signal receiver 25 are signal connected with the controller 26.

[0047] A control method of a vehicle-mounted bottom-mounted separated linear guide AGV, comprising the following steps: S1, moving the device to the bottom of the transport vehicle, then starting the four second electric push rods 20, the four second electric push rods 20 push the supporting plate 7 to the ground, and the four second electric push rods 20 continuously push the supporting plate 7 so that the bottom plate 1 is pushed upward; S2, start the second reduction motor 31 to drive the second hinge joint 32 to rotate, the second hinge joint 32 drives the telescopic plate 8 through the second hinge rod 33 and the third hinge rod 34, continuously adjusts the height of the device supported to make the telescopic plate 8 flush with the two sides of the frame, reversely retracts the telescopic plate 8 to make the hanger 9 tightly hung on the frame, then starts the second electromagnetic bolt 37 to drive the plug-in head 40 to pass through the plug-in interface 41 and insert into the plug-in part 38, fixes the telescopic plate 8, then retracts the supporting plate 7, completes the action of mounting the device on the bottom of the transport vehicle; S3, when it is needed to separate the device from the bottom of the transport vehicle, first lower the supporting plate 7 to the ground to support the device, push the telescopic plate 8 to make the hanger 9 separate from the frame, then retract the four second electric push rods 20 to make the running wheels 6 contact the ground, complete the action of separating the device from the bottom of the transport vehicle and landing; S4, input 50-meter straight path parameters in the controller 26 of the device, set the coordinates of the starting point and the ending point, preset the straight running speed as 0.4-0.8 m / s, and set the deviation threshold as the heading angle deviation≦0.8°; S5, confirm the starting point coordinates, start the attitude measurement sensor 27, record the initial heading angle as 0°, if the attitude measurement sensor 27 shows that the initial heading angle has a deviation, adjust the rotating speed of the left and right running wheels 6 through differential to make the heading angle return to 0°, complete the initial alignment of the device and the straight path; S6, in the running process, if the attitude measurement sensor 27 detects that the heading angle deviation exceeds the deviation threshold, immediately corrects through differential adjustment to avoid the initial deviation from expanding, until the device moves to the ending point coordinates.

[0048] According to the above technical scheme, the working steps of the present scheme are summarized and combed: the AGV device is moved to the bottom of the transport vehicle, the second electric push rod 20 pushes the supporting plate 7 to the ground to lift the bottom plate 1, the second reduction motor 31 drives the telescopic plate 8 to extend through the second hinged rod 33 and the third hinged rod 34 and adjusts the height to be flush with the vehicle frame, and the telescopic plate 8 is retracted to make the hanger 9 fasten the vehicle frame; when separating, the supporting plate 7 is first extended to support the AGV device, the first electromagnetic bolt 36 is retracted and the telescopic plate 8 is pushed out to make the hanger 9 separate from the vehicle frame, and then the second electric push rod 20 is retracted to make the running wheel 6 touch the ground. When straight-line guiding, the controller 26 presets the path parameters, the attitude measurement sensor 27 monitors the heading angle, the initial deviation is adjusted by the differential speed of the left and right running wheels 6 to align the path, and the deviation is corrected in real time when the deviation exceeds the threshold during running, and the laser probe 4 and the laser signal receiver 24 assist in positioning; at the same time, the first electric push rod 19 drives the first hinged rod 17 to control the expansion and folding of the identification flag 45 to prompt the position.

[0049] The parts not involved in the present application are the same as or can be realized by the prior art. Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A vehicle-mounted bottom-mounted separated linear guide AGV, characterized in that, Include: The bottom plate (1), the middle shell (2) and two side shells (3) are fixedly connected on the bottom plate (1), the two side shells (3) are located on both sides of the middle shell (2), and the bottom of the bottom plate (1) is provided with a laser probe (4); Four second electric push rods (20) are installed on the bottom plate (1), the output shaft ends of the four second electric push rods (20) penetrate through the bottom of the bottom plate (1) and are fixedly connected with a support plate (7); A walking mechanism is installed on both sides of the bottom plate (1) and is used to drive the bottom plate (1) to move; Two through grooves (12) are formed in the outer sides of the two side shells (3), the bottom plate (1) is fixedly connected with a mounting plate (30) through a support (29) on both sides, a second speed reducer motor (31) is installed at the bottom of the mounting plate (30), the output shaft end of the second speed reducer motor (31) penetrates through the mounting plate (30) and is fixedly connected with a second hinge joint (32), the two ends of the second hinge joint (32) are hingedly connected with a second hinge rod (33), and the other end of the second hinge rod (33) is hingedly connected with a third hinge rod (34); A backing plate (35) is fixedly connected to the mounting plate (30), a pipe body (39) is fixedly connected to the backing plate (35), the end of the third hinge rod (34) is hingedly connected with an expansion plate (8), the outer side of the expansion plate (8) is fixedly connected with a hanging rack (9), the inner side of the hanging rack (9) is fixedly connected with a rubber pad (11), two rows of plug-in parts (38) are formed in the outer side of the expansion plate (8), the expansion plate (8) is slidably connected with the pipe body (39), two second electromagnetic latches (37) are fixedly connected to the backing plate (35), the output shaft end of the second electromagnetic latch (37) is fixedly connected with a plug-in head (40), two plug-in interfaces (41) are formed in the outer side of the pipe body (39), and the plug-in head (40) is slidably connected in the plug-in interface (41).

2. The undercarriage separated linear guide AGV according to claim 1, characterized in that: Two first electromagnetic latches (36) are installed at the bottom of the mounting plate (30), a through hole (42) is formed in the outer side of the expansion plate (8), and the output shaft end of the first electromagnetic latch (36) penetrates through the through hole (42).

3. The undercarriage separated linear guide AGV according to claim 1, characterized in that: Two fixed blocks (13) are fixedly connected to the middle shell (2), a first rotating shaft (14) is rotatably connected between the two fixed blocks (13), a triangular frame (15) is fixedly connected to the outer side of the first rotating shaft (14), and an identification flag (45) is fixedly connected to the outer side of the triangular frame (15); a second rotating shaft (16) is rotatably connected to the outer side of the triangular frame (15), first hinge rods (17) are hingedly connected to the two ends of the second rotating shaft (16), two first electric push rods (19) are installed on the middle shell (2), first hinge joints (18) are fixedly connected to the output shaft ends of the two first electric push rods (19), and the first hinge joints (18) are hingedly connected with the first hinge rods (17).

4. The undercarriage separated linear guide AGV according to claim 3, characterized in that: The walking mechanism comprises two first mounting frames (22), the bottom of each of the two first mounting frames (22) is provided with a traveling wheel (6), the outside of each of the two first mounting frames (22) is provided with a first speed reducer motor (23), the output shaft of the first speed reducer motor (23) is in transmission connection with the traveling wheel (6), the outside of the bottom plate (1) is fixedly connected with a second mounting frame (28), and the bottom of the second mounting frame (28) is provided with an auxiliary wheel (10).

5. The undercarriage separated linear guide AGV according to claim 4, characterized in that: The bottom plate (1) is provided with a laser signal receiver (24) and a remote control signal receiver (25), and is further provided with a controller (26), and the controller (26) is provided with a posture measuring sensor (27).

6. The undercarriage separated linear guide AGV according to claim 1, characterized in that: A plurality of handles (43) are arranged on the outside of the middle shell (2).

7. The undercarriage separated linear guide AGV according to claim 5, characterized in that: The outside of the bottom plate (1) is provided with two warning lights (5).

8. The undercarriage separated linear guide AGV according to claim 7, characterized in that: The bottom plate (1) is provided with a storage battery (21), the storage battery (21) is in electrical connection with the controller (26), the controller (26) is in electrical connection with the laser probe (4), the warning light (5), the first electric push rod (19), the second electric push rod (20), the first speed reducer motor (23), the second speed reducer motor (31), the first electromagnetic bolt (36) and the second electromagnetic bolt (37), the laser probe (4) is in signal connection with the laser signal receiver (24), and the laser signal receiver (24) and the remote control signal receiver (25) are in signal connection with the controller (26).

9. A control method of a vehicle-mounted underfloor split linear guide AGV, characterized by, The following steps are included: S1, moving the device to the bottom of the transport vehicle, and then starting the four second electric push rods (20), the four second electric push rods (20) push the supporting plate (7) to the ground, and the four second electric push rods (20) continuously push the supporting plate (7) so that the bottom plate (1) is pushed upward; S2, starting the second speed reducer motor (31) to drive the second hinge joint (32) to rotate, the second hinge joint (32) drives the telescopic plate (8) to move through the second hinge rod (33) and the third hinge rod (34), continuously adjusting the height of the device supported to make the telescopic plate (8) flush with the two sides of the frame, retracting the telescopic plate (8) in the opposite direction to make the hanger (9) tightly hung on the frame, then starting the second electromagnetic bolt (37) to drive the plug joint (40) to pass through the plug interface (41) and be inserted into the plug-in part (38) to fix the telescopic plate (8), and then retracting the supporting plate (7) to complete the action of mounting the device on the bottom of the transport vehicle; S3, when it is needed to separate the device from the bottom of the transport vehicle, first, the supporting plate (7) is lowered to the ground to support the device, the telescopic plate (8) is pushed to make the hanger (9) separate from the frame, then the four second electric push rods (20) are retracted to make the traveling wheels (6) contact the ground, and the action of separating the device from the bottom of the transport vehicle and landing is completed. S4, input 50 meters straight path parameters in the controller (26) of the device, set the coordinates of the starting point and the end point, preset the straight driving speed as 0.4-0.8 m / s, and set the deviation threshold as a heading angle deviation ≦0.8°; S5, confirm the starting point coordinates, start the attitude measurement sensor (27), record the initial heading angle as 0°, if the attitude measurement sensor (27) shows that the initial heading angle has a deviation, adjust the rotating speeds of the left and right driving wheels (6) through the differential of the first reduction motor (23) to make the heading angle return to 0°, and complete the initial alignment of the device and the straight path; S6, in the driving process, if the attitude measurement sensor (27) detects that the heading angle deviation exceeds the deviation threshold, immediately correct it through the differential adjustment of the first reduction motor (23), avoid the initial deviation from expanding, and move the device to the coordinates of the end point.

Images