Omnidirectional moving and transferring AGV (Automatic Guided Vehicle)

Abstract

The utility model discloses an omni-directional moving and transferring AGV (Automatic Guided Vehicle), which belongs to the technical field of automatic guided vehicles and comprises a frame provided with a shield; the lifting assembly is arranged on the frame, and the projection of the frame and the projection of the lifting assembly are both located in the protective cover; the telescopic pallet fork is arranged on the lifting assembly, and the telescopic pallet fork can stretch out or retract in the horizontal direction; the Mecanum wheels are located at the bottom of the frame and connected with a driving assembly; the controller is connected with the lifting assembly, the telescopic pallet fork and the driving assembly; the guide assembly is arranged on the frame and connected with the controller; the Mecanum wheels can drive the frame to move in all directions; the lifting assembly can drive the telescopic pallet fork to ascend and descend, the telescopic pallet fork can stretch out and draw back in the horizontal direction, and taking and placing of workpieces at any position in the space are achieved. When the workpieces are transferred, the telescopic pallet forks are in a retracted state, the projections of the workpieces and the telescopic pallet forks in the vertical direction are located in the protective cover, and the situation that the workpieces or the telescopic pallet forks are collided is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic guided vehicles, in particular to an omnidirectional mobile transfer AGV. Background Art

[0002] At present, workpieces are usually transferred by manual forklifts or other methods that require manual operation, which has high labor costs, high labor intensity, and is prone to safety accidents, which does not meet the requirements of production automation. Of course, workpieces can also be transferred through trusses, but trusses are only suitable for some occasions, and they occupy a large area and cannot be transferred across workshops.

[0003] AGV is the abbreviation of Automated Guided Vehicle, which refers to an unmanned automated vehicle with automatic guidance equipment such as magnetic strips, tracks or lasers, which travels along a planned path and is equipped with safety protection and various auxiliary mechanisms (such as transfer and assembly mechanisms). When existing AGVs transport workpieces, the workpieces or forks are exposed to the outside, which may easily lead to bumps or other safety risks during the transportation of the workpieces. In addition, the moving direction of AGV is fixed and is greatly restricted by the site.

[0004] Therefore, developing and designing a transfer AGV that can move in all directions, is less restricted by the site, and has high safety when transferring workpieces is an issue that needs to be urgently addressed at this stage. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the utility model provides an omnidirectional mobile transfer AGV, in which the Mecanum wheels can drive the frame to move in all directions; the lifting assembly can drive the telescopic fork to move in the vertical direction, and the telescopic fork itself can be extended and retracted in the horizontal direction, thereby conveniently realizing the picking and placing of workpieces at any position in the space; when transporting the workpiece, the telescopic fork is in a retracted state, and the projections of the workpiece and the telescopic fork in the vertical direction are both located inside the protective cover, and there will be no collision between the workpiece or the telescopic fork. The utility model is particularly suitable for occasions with long transport distances and narrow passages, and has high safety and flexibility.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] The utility model provides an omnidirectional mobile transfer AGV, including:

[0008] A vehicle frame, wherein a protective cover is provided on the vehicle frame;

[0009] A lifting assembly, wherein the lifting assembly is arranged on the frame, and projections of the frame and the lifting assembly in the vertical direction are all located inside the shield;

[0010] A telescopic fork, the telescopic fork is arranged on the lifting assembly and is located above the protective cover, the lifting assembly can drive the telescopic fork to move in the vertical direction, and the telescopic fork can be extended or retracted in the horizontal direction; the telescopic fork has an extended state and a retracted state; when the telescopic fork is in the extended state, part of the projection of the telescopic fork in the vertical direction is located outside the protective cover; when the telescopic fork is in the retracted state, the projection of the telescopic fork in the vertical direction is completely located inside the protective cover;

[0011] A plurality of Mecanum wheels, each of which is located at the bottom of the frame and is connected to a driving assembly for driving the wheel to rotate;

[0012] A controller, the controller being connected to the lifting assembly, the telescopic fork and the driving assembly respectively;

[0013] A guide assembly is arranged on the frame and connected to the controller.

[0014] As a preferred technical solution, a safety touch edge is provided on the outer peripheral surface of the shield, and the safety touch edge is connected to the controller.

[0015] As a preferred technical solution, it also includes an indicator light, which is arranged above the vehicle frame and connected to the controller.

[0016] As a preferred technical solution, it also includes an operation panel, which is arranged on the frame and connected to the controller.

[0017] As a preferred technical solution, the lifting assembly includes a screw lift and a fork seat, the screw lift is arranged between the frame and the fork seat, and the telescopic fork is fixed on the fork seat.

[0018] As a preferred technical solution, the fork seat is provided with a plurality of guide sleeves, the frame is provided with a plurality of guide rods corresponding to the guide sleeves one by one, and the guide rods extend into the guide sleeves and are in clearance fit with the guide sleeves.

[0019] As a preferred technical solution, the telescopic fork is configured as a bidirectional telescopic fork.

[0020] As a preferred technical solution, a suspension assembly is provided between the frame and the Mecanum wheel, the suspension assembly includes a mounting seat fixed on the frame, a connecting seat is provided on the mounting seat, one end of the connecting seat is rotatably connected to the mounting seat, and a buffer assembly is provided between the other end of the connecting seat and the mounting seat; the Mecanum wheel is rotatably provided on the connecting seat.

[0021] As a preferred technical solution, the buffer component is configured as a spring and / or a damping cylinder;

[0022] And / or, the driving assembly includes a motor, and the motor is connected to the Mecanum wheel through a synchronous belt and a reducer;

[0023] And / or, the number of the Mecanum wheels is four, and the four Mecanum wheels are distributed at four corners of the frame.

[0024] As a preferred technical solution, the guidance component includes a laser navigation radar and / or an obstacle avoidance radar.

[0025] The beneficial effects of the utility model are as follows:

[0026] 1. The utility model can drive the frame to move forward and backward, horizontally, diagonally or rotate in situ through the Mecanum wheels, so that the frame can move in all directions and is less restricted by the site; the lifting component can drive the telescopic fork to move in the vertical direction, and the telescopic fork itself can be extended and retracted in the horizontal direction, thereby conveniently realizing the picking and placing of workpieces at any position in the space; when transporting the workpiece, the telescopic fork is in a retracted state, and the projections of the workpiece and the telescopic fork in the vertical direction are both located inside the protective cover, and the workpiece and the telescopic fork are not exposed, which effectively avoids the situation where the workpiece or the telescopic fork collide with each other. It is particularly suitable for occasions with long transport distances and narrow passages, and has high safety and flexibility.

[0027] 2. The utility model can effectively reduce the shaking of the frame and improve the stability by means of the buffer component arranged on the suspension component. At the same time, it can adapt to the uneven road conditions and prevent slipping. It does not require the working ground to be very flat, which greatly improves the ground compatibility.

[0028] 3. The utility model can replace the truss to transfer workpieces in most occasions, reduce the site occupation, improve the space utilization rate, and realize the cross-workshop transfer of workpieces.

[0029] 4. The utility model can replace manual forklifts or other transfer vehicles that require manual operation to transfer workpieces in most situations, reducing labor costs and labor intensity of workers, and effectively reducing the incidence of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the omnidirectional mobile transfer AGV of the utility model;

[0031] Figure 2 for Figure 1 Schematic diagram of the structure behind the hidden shield;

[0032] Figure 3 for Figure 2 A cross-sectional view of

[0033] Figure 4 for Figure 1 A schematic diagram of the structure of the buffer component in FIG.

[0034] Figure 5 for Figure 1 Schematic diagram of the structure of the telescopic fork.

[0035] In the figure: 1-frame, 11-protective cover, 12-safety touch edge, 13-operation panel, 14-indicator light, 15-guide rod, 21-screw lift, 22-fork seat, 23-guide sleeve, 24-guide rod, 3-telescopic fork, 4-Mecanum wheel, 41-mounting seat, 42-connecting seat, 43-motor, 44-synchronous belt, 45-reducer, 51-spring, 52-damping cylinder, 61-laser navigation radar, 62-obstacle avoidance radar. DETAILED DESCRIPTION

[0036] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0037] Please refer to Figure 1-Figure 5, which is an embodiment of the omnidirectional mobile transfer AGV provided by the utility model, includes a frame 1 and a telescopic fork 3; a lifting assembly is provided between the frame 1 and the telescopic fork 3, and the lifting assembly can drive the telescopic fork 3 to move in the vertical direction; at the same time, the telescopic fork 3 can be extended or retracted in the horizontal direction, so that the workpiece at any height next to the frame 1 can be conveniently taken and placed; a plurality of Mecanum wheels 4 are provided at the bottom of the frame 1, and the Mecanum wheels 4 are connected to a driving assembly that drives them to rotate, and the driving assembly drives the Mecanum wheels 4 to rotate to drive the frame 1 to move in all directions, so as to realize the transportation of workpieces; a shield 11 is provided on the frame 1, and the projections of the frame 1 and the lifting assembly in the vertical direction are all located inside the shield 11, and the telescopic fork 3 is provided on the lifting assembly and located above the shield 11, and the telescopic fork 3 has an extended state and a retracted state; when the telescopic fork 3 is in the extended state, part of the telescopic fork 3 is in the vertical direction. The projection on the cover 11 is located outside the protective cover 11, which can facilitate the placement of workpieces; when the telescopic fork 3 is in the retracted state, the projections of the telescopic fork 3 and the workpiece in the vertical direction are all located inside the protective cover 11, and the workpiece and the telescopic fork 3 are not exposed, which effectively avoids the collision of the workpiece or the telescopic fork 3. It is particularly suitable for occasions with long transfer distances and narrow passages, and has high safety and flexibility; the guide assembly is arranged on the frame 1, and the guide assembly can guide the frame 1 to move along the planned route; the controller is respectively connected to the lifting assembly, the telescopic fork 3, the drive assembly and the guide assembly. The controller can control the lifting assembly, the telescopic fork 3, the drive assembly and the guide assembly to operate in an orderly manner according to the guidance information of the guide assembly, and automatically realize the transfer of workpieces. It is suitable for machine tools, warehouses and other working conditions that require the placement and removal of workpieces at fixed points, or the transfer of workpieces between warehouses and all occasions that require the completion of two-point or multi-point transfer.

[0038] Specifically, the controller is preferably configured as a PLC, and the controller may be mounted on the vehicle frame 1 by wired communication or may be separately configured by wireless communication, so as to be able to stably receive and send electrical signals.

[0039] It should be noted that the utility model also requires specific arrangement of supporting facilities according to the accuracy requirements under different working conditions. For example, in situations such as machine tools that require a higher workpiece position accuracy, a positioning tool can be set on the shelf or machine tool to perform secondary positioning of the workpiece.

[0040] In this embodiment, please refer to Figure 1 A safety touch edge 12 is provided on the outer peripheral surface of the shield 11, and the safety touch edge 12 is connected to the controller. After the safety touch edge 12 is compressed, an emergency stop signal can be sent to the controller. When the guide component does not detect an obstacle or is damaged, the safety touch edge 12 can serve as a safety barrier.

[0041] For further information, please refer to Figure 1-Figure 3The utility model also includes an operation panel 13, which is arranged above the frame 1. The operation panel 13 is connected to the controller. The staff can communicate with the controller through the operation panel 13, check the power and working status, and can also manually perform the transfer and emergency stop operations of the utility model.

[0042] For further information, please refer to Figure 1 and Figure 2 The utility model also includes an indicator light 14, which is arranged above the frame 1 and connected to the controller. The working condition of the utility model can be intuitively observed through the indicator light 14; specifically, the indicator light 14 is preferably set to a three-color light, and the three-color light indicates different working conditions of the utility model by displaying different colors.

[0043] In this embodiment, please refer to Figure 2 and Figure 3 The lifting assembly includes a screw lift 21 and a fork seat 22. The screw lift 21 is arranged between the frame 1 and the fork seat 22. The telescopic fork 3 is fixed on the fork seat 22. The extension and retraction of the screw lift 21 can drive the telescopic fork 3 to move in the vertical direction. Specifically, the screw lift 21 is preferably set to two. The synchronous operation of the two screw lifts 21 can effectively improve the stability of the fork seat 22 when it is lifted or lowered.

[0044] Based on the above examples, please refer to Figure 2 and Figure 3 A plurality of guide sleeves 23 are provided on the fork seat 22, and a plurality of guide rods 24 corresponding to the guide sleeves 23 are provided on the frame 1. The guide rods 24 extend into the guide sleeves 23 and are clearance-matched with the guide sleeves 23. The matching guide rods 24 and guide sleeves 23 can guide the lifting and lowering of the fork seat 22, thereby ensuring the smooth lifting and lowering of the telescopic fork 3.

[0045] It should be noted that the telescopic fork 3 is preferably set as a bidirectional telescopic fork, which can more conveniently pick up and place workpieces; at the same time, the extension stroke of the fork body of the bidirectional telescopic fork is smaller than its main body size, which can better ensure that when the bidirectional telescopic fork is in the retracted state, its projection in the vertical direction is completely located inside the protective cover 11.

[0046] In this embodiment, please refer to Figure 2 and Figure 4 A suspension assembly is provided between the frame 1 and the Mecanum wheel 4, the suspension assembly includes a mounting seat 41 fixed on the frame 1, a connecting seat 42 is provided on the mounting seat 41, one end of the connecting seat 42 is rotatably connected to the mounting seat 41, and a buffer assembly is provided between the other end of the connecting seat 42 and the mounting seat 41, and the buffer assembly is used to improve the stability of the frame 1 when moving; the Mecanum wheel 4 is rotatably provided on the connecting seat 42.

[0047] Based on the above examples, please refer to Figure 4 The buffer assembly includes a spring 51 and a damping cylinder 52. The spring 51 can enable the Mecanum wheel 4 to adapt to uneven road conditions and prevent slipping; the damping cylinder 52 can quickly stop the reciprocating vibration of the spring 51 through the damping force, reduce the shaking of the frame 1, and improve stability.

[0048] For details, please refer to Figure 2 The Mecanum wheels 4 are preferably four, and the four Mecanum wheels 4 are distributed at the four corners of the frame 1. The four Mecanum wheels 4 can stably drive the frame 1 to move in all directions.

[0049] For further information, please refer to Figure 4 The driving assembly includes a motor 43, which is connected to the Mecanum wheel 4 through a synchronous belt 44 and a reducer 45, and can drive the Mecanum wheel 4 to rotate, thereby realizing omnidirectional movement of the frame 1.

[0050] In this embodiment, please refer to Figure 1 and Figure 3 The guide component preferably includes a laser navigation radar 61 and an obstacle avoidance radar 62. Specifically, a vertically arranged guide rod 15 is provided on the frame 1, and the laser navigation radar 61 is arranged on the top of the guide rod 15. The laser navigation radar 61 determines the position by emitting laser, and then performs route planning; there are multiple obstacle avoidance radars 62, and multiple obstacle avoidance radars 62 can be respectively arranged on the guide rod 15 and the shield 11. The obstacle avoidance radar 62 effectively avoids obstacles by emitting lasers and setting detection distances to ensure safety; the operation panel 13 and the indicator light 14 can also be arranged on the guide rod 15; in other embodiments, the guide component can also be only the laser navigation radar 61 or the obstacle avoidance radar 62, so as to be able to stably guide the frame 1 to realize the transfer of workpieces.

[0051] The specific working process of the utility model is as follows:

[0052] All workpiece placement points such as workpiece placement racks, storage racks, machine tool workbenches, etc. are called "shelves";

[0053] The utility model automatically moves to shelf A through the guide assembly according to the task assigned by the dispatching system;

[0054] After the workpiece is positioned, the lifting assembly drives the telescopic fork 3 to rise to a suitable height, and the telescopic fork 3 extends to the bottom of the workpiece; the lifting assembly drives the telescopic fork 3 to rise again to lift the workpiece; the telescopic fork 3 retracts and drives the workpiece to move within the projection of the protective cover 11 in the vertical direction;

[0055] The utility model moves to the B shelf under the guidance of the guide assembly. After the workpiece is positioned, the lifting assembly drives the telescopic fork 3 to rise and fall to a suitable height, and the telescopic fork 3 extends out carrying the workpiece; the lifting assembly drives the telescopic fork 3 to fall again to place the workpiece on the B shelf, thereby realizing the transfer of the workpiece between two points.

[0056] Furthermore, when the workpiece is transferred between multiple points, the above process only needs to be repeated.

[0057] It should be noted that for occasions with general requirements for workpiece placement accuracy, there is no need for secondary positioning at the shelf, and the workpiece can be positioned only by relying on the utility model; for occasions with higher requirements for workpiece placement accuracy, when the positioning accuracy of the utility model cannot meet the requirements, a secondary positioning tool can be set on the shelf to achieve accurate positioning of the workpiece.

[0058] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. Omnidirectional mobile transfer AGV, characterized by: include: A vehicle frame (1), wherein a protective cover (11) is provided on the vehicle frame (1); A lifting component, the lifting component being arranged on the vehicle frame (1), and projections of the vehicle frame (1) and the lifting component in the vertical direction are all located inside the protective cover (11); a telescopic fork (3), the telescopic fork (3) being arranged on the lifting assembly and being located above the protective cover (11); the lifting assembly being capable of driving the telescopic fork (3) to move in a vertical direction, and the telescopic fork (3) being capable of extending or retracting in a horizontal direction; the telescopic fork (3) having an extended state and a retracted state; when the telescopic fork (3) is in the extended state, a portion of the projection of the telescopic fork (3) in the vertical direction is located outside the protective cover (11); when the telescopic fork (3) is in the retracted state, the projection of the telescopic fork (3) in the vertical direction is entirely located inside the protective cover (11); A plurality of Mecanum wheels (4), wherein the Mecanum wheels (4) are located at the bottom of the frame (1), and the Mecanum wheels (4) are connected to a driving assembly for driving the wheels to rotate; A controller, the controller being connected to the lifting assembly, the telescopic fork (3) and the driving assembly respectively; A guide assembly is arranged on the vehicle frame (1), and the guide assembly is connected to the controller.

2. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: A safety touch edge (12) is provided on the outer peripheral surface of the protective cover (11), and the safety touch edge (12) is connected to the controller.

3. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: It also comprises an indicator light (14), wherein the indicator light (14) is arranged above the vehicle frame (1), and the indicator light (14) is connected to the controller.

4. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: It also comprises an operating panel (13), wherein the operating panel (13) is arranged on the vehicle frame (1), and the operating panel (13) is connected to the controller.

5. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: The lifting assembly comprises a screw lift (21) and a fork seat (22); the screw lift (21) is arranged between the vehicle frame (1) and the fork seat (22); and the telescopic fork (3) is fixed on the fork seat (22).

6. The omnidirectional mobile transfer AGV according to claim 5, characterized in that: The fork seat (22) is provided with a plurality of guide sleeves (23), the frame (1) is provided with a plurality of guide rods (24) corresponding one to one with the guide sleeves (23), the guide rods (24) extending into the guide sleeves (23) and being loosely matched with the guide sleeves (23).

7. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: The telescopic fork (3) is configured as a bidirectional telescopic fork (3).

8. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: A suspension assembly is provided between the vehicle frame (1) and the Mecanum wheel (4), the suspension assembly comprising a mounting seat (41) fixed on the vehicle frame (1), a connecting seat (42) being provided on the mounting seat (41), one end of the connecting seat (42) being rotatably connected to the mounting seat (41), and a buffer assembly being provided between the other end of the connecting seat (42) and the mounting seat (41); the Mecanum wheel (4) is rotatably provided on the connecting seat (42).

9. The omnidirectional mobile transfer AGV according to claim 8, characterized in that: The buffer component is configured as a spring (51) and / or a damping cylinder (52); And / or, the driving assembly includes a motor (43), and the motor (43) is connected to the Mecanum wheel (4) through a synchronous belt (44) and a speed reducer (45); And / or, the number of the Mecanum wheels (4) is four, and the four Mecanum wheels (4) are distributed at four corners of the frame (1).

10. The omnidirectional mobile transfer AGV according to claim 1, characterized in that: The guidance component includes a laser navigation radar (61) and / or an obstacle avoidance radar (62).

Images