AGV (Automatic Guided Vehicle) mother vehicle

Abstract

An AGV mother vehicle comprises a vehicle body, steering wheels are arranged at the bottom of the vehicle body, a child vehicle track is arranged at the top of the vehicle body, and the child vehicle track is used for parking or passing of a shuttle vehicle; an automatic gap bridge is arranged at the front end of the sub-vehicle track, and cargo supports are arranged on the two sides of the sub-vehicle track and are higher than the sub-vehicle track; the automatic gap bridge comprises a mounting plate fixed at the top of the vehicle body and positioned in front of the sub-vehicle track; the guide rail is rotationally connected with the mounting plate, is positioned at the front end of the sub-vehicle guide rail and is horizontally aligned with the sub-vehicle guide rail; the driving device is fixed at the bottom of the mounting plate and is used for driving the guide rail to turn over; in the conveying position, the guide rails are driven by the driving device to turn downwards to the horizontal position, the top faces of the guide rails are flush with the top faces of the sub-vehicle rails, and the rear end faces of the guide rails are in butt joint with the front end faces of the sub-vehicle guide rails. The rail guide vehicle can smoothly run to the designated goods shelf, the problem that the rail guide vehicle stops at the butt joint position of the AGV mother vehicle and the rail is solved, the transportation efficiency of produced goods is improved, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing and logistics equipment, in particular to an AGV mother vehicle. Background Art

[0002] Automated Guided Vehicle (AGV), also known as automatic guided transport vehicle or automatic guided transport vehicle.

[0003] Although the research on AGV has a history of many years, there are still many key technologies that need to be improved and broken through to further improve the performance of AGV, reduce manufacturing costs and reduce operating costs. Figure 1 When the existing AGV mother-child vehicle moves goods, the AGV mother vehicle carries the shuttle vehicle to the starting end of the docking track, and then the shuttle vehicle moves to the docking track. However, when the shuttle vehicle moves from the AGV mother vehicle to the track, due to the deviation in the alignment between the AGV mother vehicle and the docking track, the shuttle vehicle stops when walking to the docking track, affecting the transportation efficiency. To this end, the present invention optimizes the structure of the AGV mother vehicle to solve the problems in the prior art. Utility Model Content

[0004] In view of the problems and shortcomings in the prior art, the utility model provides an AGV mother vehicle.

[0005] The technical solution of this utility model is as follows:

[0006] An AGV mother vehicle comprises a vehicle body, a steering wheel is arranged at the bottom of the vehicle body, and a sub-vehicle track is arranged at the top, and the sub-vehicle track is used for the shuttle vehicle to park or travel;

[0007] The front end of the sub-trolley track is rotated to set an automatic bridge, and cargo supports are fixedly set on both sides, and the cargo supports are higher than the sub-trolley track;

[0008] Automatic bridge crossing includes:

[0009] A mounting plate, fixed to the top of the vehicle body and located in front of the sub-vehicle track;

[0010] The guide rail is rotatably connected above the mounting plate and is located at the front end of the guide rail of the sub-carriage and aligned with the front and rear thereof;

[0011] The driving device is fixed at the bottom of the mounting plate and is used to drive the guide rail to flip:

[0012] When in the carrying position, the guide rail is vertical; when in the transmission position, the guide rail is driven by the driving device to flip downward to a horizontal position, at which time the top surface of the guide rail is flush with the top surface of the sub-trolley track, and the rear end surface is connected to the front end surface of the sub-trolley guide rail.

[0013] Working principle:

[0014] After the shuttle is loaded with goods (such as food pallets), it moves from the rear end of the AGV mother vehicle along the sub-vehicle track to the AGV mother vehicle. At this time, the guide rails of the automatic bridge are in a vertical state, which acts as a front and rear limit for the shuttle vehicle. After that, the shuttle vehicle descends downward, the cargo base contacts the cargo support, and the cargo falls on the cargo support; then the AGV mother vehicle starts, and the cargo and shuttle vehicle move under the drive of the steering wheel. When it moves to the designated shelf position, the guide rail flips downward under the action of the drive device until it is horizontal. At this time, the rear end of the guide rail docks with the sub-vehicle track, and the top surface is flush with the top surface of the sub-vehicle track. The shuttle vehicle starts, lifts the cargo and moves forward to the shelf track or shelf to realize the transfer of cargo. After the cargo is unloaded, the automatic bridge flips over, and the guide rail flips up again to return to the vertical state.

[0015] According to a specific embodiment, two sub-carriage tracks and guide rails are arranged in parallel and spaced apart, and the sub-carriage tracks and the guide rails are aligned front to back. This facilitates alignment with the sub-carriage tracks when the guide rails are turned to a horizontal position, so that the shuttle can move forward freely. In a specific implementation, the sub-carriage tracks and the guide rails are both rectangular square tubes, symmetrically spaced apart in the space on the top of the car body for the shuttle to pass through.

[0016] In order to improve the stability of the guide rails, a reinforcement rod is connected between the two guide rails.

[0017] In addition, in order to facilitate the connection between the guide rails and the shelf rails, two connectors are provided at the front ends of the two guide rails, and the cross-sectional dimensions of the connectors gradually decrease toward the extended ends, that is, the opening spacing gradually increases.

[0018] In order to improve stability and ensure flatness, a reinforcing rod is connected between the two connectors.

[0019] According to a specific embodiment, the driving device includes a motor, a rotating shaft and a transmission assembly. The motor is fixed at the bottom of the mounting plate, the two ends of the rotating shaft are fixedly connected to the guide rails, and the middle part is rotatably connected to the mounting plate. The transmission assembly is used to transmit the power of the motor's movement to the rotating shaft.

[0020] Obstacle avoidance sensors are installed at the front of the vehicle body, located on both sides of the automatic bridge. Specifically, they are installed inside the vehicle body to detect obstacles and feed back the detection signals to the control unit. Anti-collision touch edges are installed at the lower edges of both sides of the vehicle body, and vibration sensors are installed inside. The vibration sensors are electrically connected to the emergency stop device. When the vehicle body collides with an obstacle and the vibration sensor detects the set signal, the emergency stop device is activated through the control unit to make the AGV mother vehicle emergency brake to prevent damage.

[0021] The beneficial effects of the utility model are:

[0022] An automatic bridge is set up, including a mounting plate, a guide rail and a driving device. The mounting plate is fixed on the top of the vehicle body and is located in front of the sub-vehicle track; the guide rail is rotatably connected to the mounting plate, located at the front end of the sub-vehicle guide rail and aligned with it left and right; the driving device is fixed at the bottom of the mounting plate, used to drive the guide rail to flip; when in the carrying position, the guide rail vertically serves to limit the front and rear positions of the shuttle vehicle; when in the transmission position, the guide rail is driven by the driving device to flip downward to a horizontal position, at which time the rear end face of the guide rail is connected to the front end face of the sub-vehicle guide rail, and the top surface is flush with the top surface of the sub-vehicle track, which is used to dock with the shelf track or shelf, so that the shuttle vehicle moves along the guide rail to the shelf track or shelf. The shuttle vehicle can smoothly travel to the designated shelf without stopping at the docking point between the AGV mother vehicle and the track, which improves the transportation efficiency of production goods and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the prior art;

[0024] Figure 2 A perspective view of an embodiment;

[0025] Figure 3 A three-dimensional diagram of the automatic bridge crossing;

[0026] Figure 4 for Figure 2 The three-dimensional diagram of the electric bridge in the transmission position;

[0027] Figure 5 for Figure 4 A-direction view in the figure;

[0028] 10. AGV mother vehicle; 20. Docking track;

[0029] 1. Vehicle body; 2. Steering wheel; 3. Sub-vehicle track; 4. Cargo support; 5. Automatic bridge; 51. Mounting plate; 52. Drive device; 53. Guide rail; 54. Reinforcement rod; 55. Connector; 6. Anti-collision edge; 7. Obstacle avoidance sensor; 8. Shuttle vehicle; 9. Cargo base. DETAILED DESCRIPTION

[0030] The following will further describe the technical means adopted to achieve the predetermined inventive purpose of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model.

[0031] See also Figure 2 An AGV mother vehicle 10 includes a vehicle body 1, a steering wheel 2 is provided at the bottom of the vehicle body 1, the steering wheel is used to drive the vehicle body to walk or turn, and a sub-vehicle track 3 is provided on the top. During implementation, the sub-vehicle track is set in a groove in the middle of the vehicle body, and the sub-vehicle track 3 is used for the shuttle vehicle 8 to park or pass through. When working, the shuttle vehicle carrying goods is parked on the sub-vehicle track, and its wheels roll along the sub-vehicle track.

[0032] The front end of the sub-carriage track 3 is rotated to set an automatic bridge 5, and shelves are fixed on both sides, and the shelves are higher than the sub-carriage track 3. In the implementation, the cargo support is a beam parallel to the sub-carriage track, fixedly connected to the car body through a column made of square tubes, and its top surface is higher than the top surface of the sub-carriage track, which is used to support the cargo falling from the shuttle car.

[0033] See also Figure 3 , automatic bridge crossing 5 includes:

[0034] A mounting plate 51 is fixed to the top of the vehicle body 1 and is located in front of the sub-vehicle track 3;

[0035] The guide rail 53 is rotatably connected above the mounting plate 51 and is located at the front end of the guide rail 53 of the sub-carriage and aligned with the front and rear thereof;

[0036] The driving device 52 is fixed to the bottom of the mounting plate 51 and is used to drive the guide rail 53 to flip:

[0037] See also Figure 2 , when in the transport position, the guide rail 53 is vertical; see Figure 4 When in the transfer position, the guide rail 53 is driven by the driving device 52 to flip downward to a horizontal position. At this time, the top surface of the guide rail 53 is flush with the top surface of the sub-trolley track 3, and the rear end surface is adjacent to the front end surface of the sub-trolley guide rail 53.

[0038] Working principle:

[0039] See also Figure 2 , Figure 4 and Figure 5 After the shuttle 8 is loaded with goods (such as food pallets), it moves from the rear end of the AGV mother vehicle 10 along the sub-vehicle track 3 to the AGV mother vehicle 10. At this time, the guide rail 53 of the automatic bridge 5 is in a vertical state, which acts as a front and rear limit for the shuttle 8. Then the shuttle 8 descends downward, the cargo base 9 contacts the cargo support, and the cargo falls on the cargo support 4; then the AGV mother vehicle 10 starts, and the cargo and shuttle 8 move under the drive of the steering wheel 2. When it moves to the designated shelf position, the guide rail 53 flips downward under the action of the drive device 52 until it is horizontal. At this time, the rear end of the guide rail 53 docks with the sub-vehicle track 3, and the top surface is flush with the top surface of the sub-vehicle track 3. The shuttle 8 starts, lifts the goods and moves forward to the shelf track or shelf to realize the transfer of goods. After the goods are unloaded, the automatic bridge 5 flips over, and the guide rail 53 flips up again to return to the vertical state.

[0040] See also Figure 2-Figure 4According to a specific embodiment, the sub-carriage track 3 and the guide rail 53 are arranged in parallel and spaced apart, and the sub-carriage track 3 and the guide rail 53 are aligned front and back. When the guide rail 53 is turned to a horizontal position, it can be aligned with the sub-carriage track 3, so that the shuttle 8 can move forward freely. In a specific implementation, the sub-carriage track 3 and the guide rail 53 are both rectangular square tubes, symmetrically spaced apart in the space on the top of the vehicle body 1 for the shuttle 8 to pass through.

[0041] In order to improve the stability of the guide rails 53 , a reinforcing rod 54 is connected between the two guide rails 53 .

[0042] In addition, in order to facilitate the insertion of the guide rails 53 and the shelf rails, two connectors 55 are provided at the front ends of the two guide rails 53. The cross-sectional dimensions of the connectors 55 gradually decrease toward the extended ends, that is, the opening spacing gradually increases.

[0043] In order to improve stability and ensure flatness, a reinforcing rod 54 is connected between the two connecting heads 55 .

[0044] According to a specific embodiment, the driving device 52 includes a motor, a rotating shaft and a transmission assembly. The motor is fixed at the bottom of the mounting plate 51. The two ends of the rotating shaft are fixedly connected to the guide rails 53, and the middle part is rotatably connected to the mounting plate 51. The transmission assembly is used to transmit the power of the motor's movement to the rotating shaft. In a specific implementation, the transmission assembly can adopt a sprocket transmission assembly, in which the driven sprocket is fixedly connected to the rotating shaft through a flat key, and the driving sprocket is connected to the output shaft of the motor through a coupling; it can also adopt a belt drive or a gear drive, in which the driving wheel is connected to the output shaft of the motor, and the driven wheel is connected to the rotating shaft. In addition, a limiting mechanism is provided on the rotating shaft to control the rotation angle of the rotating shaft, which can specifically adopt a Hall encoder and a magnet sensor block.

[0045] See also Figure 2 , an obstacle avoidance sensor 7 is provided at the front end of the vehicle body 1, located on both sides of the automatic bridge 5. Specifically, it is arranged inside the vehicle body 1, used to detect obstacles, and feed back the detection signal to the control unit. Anti-collision touch edges 6 are provided at the lower edges of both sides of the vehicle body 1, and a vibration sensor is provided inside, and the vibration sensor is electrically connected to the emergency stop device. When the vehicle body 1 collides with an obstacle and the vibration sensor detects a set signal, the emergency stop device is activated through the control unit, so that the AGV mother vehicle 10 is emergency braked to prevent damage.

[0046] The above is a preferred embodiment of the present invention, but the present invention is not limited to the above embodiments and examples. Various changes, equivalent substitutions, improvements, etc. made within the knowledge scope of those skilled in the art without departing from the concept of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV mother vehicle, comprising a vehicle body (1), a steering wheel (2) being provided at the bottom of the vehicle body, and a sub-vehicle track (3) being provided at the top, wherein the sub-vehicle track is used for a shuttle vehicle (8) to park or travel; characterized in that: The front end of the sub-vehicle track (3) is rotatably provided with an automatic bridge (5), and both sides are provided with fixed cargo supports (4), and the cargo supports are higher than the sub-vehicle track (3); The automatic bridge crossing (5) comprises: A mounting plate (51) is fixed on the top of the vehicle body (1) and is located in front of the sub-vehicle track (3); A guide rail (53) is rotatably connected above the mounting plate (51) and is located at the front end of the guide rail (53) and aligned with the front and rear ends of the guide rail (53); The driving device (52) is connected to the bottom of the mounting plate (51) and is used to drive the guide rail (53) to flip: When in the carrying position, the guide rail (53) is vertical; when in the conveying position, the guide rail (53) is driven by the driving device (52) to flip downward to a horizontal position, at which time the top surface of the guide rail (53) is flush with the top surface of the sub-trolley track (3), and the rear end surface is in contact with the front end surface of the sub-trolley guide rail (53).

2. The AGV mother vehicle according to claim 1, characterized in that: The sub-vehicle track (3) and the guide rail (53) are both arranged in parallel with each other in two intervals, and the sub-vehicle track (3) and the guide rail (53) are aligned front to back.

3. The AGV mother vehicle according to claim 2, characterized in that: A reinforcing rod (54) is connected between the two guide rails (53).

4. The AGV mother vehicle according to claim 3, characterized in that: Two connectors (55) are provided at the front ends of the two guide rails (53), and the cross-sectional dimensions of the connectors gradually decrease toward the extension ends, that is, the opening spacing gradually increases.

5. The AGV mother vehicle according to claim 4, characterized in that: A reinforcing rod (54) is connected between the two connecting heads (55).

6. The AGV mother vehicle according to any one of claims 1 to 5, characterized in that: The driving device (52) comprises a motor, a rotating shaft and a transmission assembly. The motor is fixed to the bottom of the mounting plate (51). Both ends of the rotating shaft are fixedly connected to the guide rails (53), and the middle part is rotatably connected to the mounting plate (51). The transmission assembly is used to transmit the power of the motor's movement to the rotating shaft.

7. The AGV mother vehicle according to claim 6, characterized in that: The front end of the vehicle body (1) is provided with an obstacle avoidance sensor (7) located on both sides of the automatic bridge (5).

8. The AGV mother vehicle according to claim 7, characterized in that: The lower edges of both sides of the vehicle body (1) are provided with anti-collision touch edges (6), and a vibration sensor is provided inside, and the vibration sensor is electrically connected to the emergency stop device.

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