Full-servo forward-moving type automatic guiding vehicle
By adopting a full servo forward-moving design on the automatic guide vehicle, and using lifting and forward-moving servo components to achieve accurate positioning and alignment of the equipment, the shortcomings of traditional automatic guide vehicles in accurate positioning and alignment are solved, and high-precision cargo processing is achieved.
Patent Information
- Application Number
- CN202421444973.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-24
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-06-24
AI Technical Summary
Traditional automatic guide vehicles have high inertia when starting and stopping, making it difficult to accurately position, and the sealing performance of the hydraulic hoisting mechanism affects oil pressure fluctuations, making it difficult to accurately position the equipment at a set height and to deal with goods that require accurate positioning.
The fully servo forward-moving automatic guide vehicle is adopted, including a horizontally movable vehicle body, a lifting mechanism and a forward-moving mechanism. The lifting servo assembly and the forward-moving servo assembly drive the lifting screw and the forward-moving screw to achieve accurate positioning and alignment of the tool in the front and rear and up and down directions.
It realizes high-precision tool positioning and alignment, with high positioning accuracy and good position reproducibility, and is especially suitable for high-precision docking, transport and stacking of mold goods.
Smart Images
Figure CN222593383U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of transportation, in particular to a full-servo forward-moving automatic guided vehicle. Background Art
[0002] An automated guided vehicle (AGV), also known as an automated guided transporter or automated guided vehicle, is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or tows a cargo trolley to a designated location, and then loads and unloads goods automatically or manually.
[0003] The positioning of accessories on traditional automatic guided vehicles is mostly achieved by moving the vehicle body + lifting and lowering the hydraulic jacking mechanism. The vehicle body is located behind the accessories and has a large weight. It has large inertia during starting and stopping, making it difficult to accurately position the accessories. At the same time, affected by the sealing performance of the hydraulic jacking mechanism, there is a certain fluctuation in the oil pressure, making it difficult to accurately position the accessories at the set height. Therefore, it is often difficult to transport goods such as molds that require precise positioning and alignment. Utility Model Content
[0004] The purpose of the utility model is to solve one or more problems in the prior art and to provide a full-servo forward-moving automatic guided vehicle with high positioning accuracy and good position reproducibility.
[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is that the full-servo forward-moving automatic guided vehicle comprises:
[0006] A vehicle body that can move horizontally;
[0007] A lifting mechanism disposed on the vehicle body;
[0008] An attachment connected to the lifting mechanism;
[0009] The lifting mechanism includes a lifting frame, a lifting plate connected to the lifting frame movably up and down, a lifting screw pair and a lifting servo assembly, the lifting plate is used to fix the attachment, the lifting screw pair includes a lifting screw extending vertically in the up and down direction and rotatably connected to the lifting frame, a lifting nut matching the lifting screw and sleeved on the lifting screw, the lifting nut is fixedly connected to the lifting plate, and the lifting servo assembly is used to drive the lifting screw to rotate;
[0010] The lifting frame is connected to the vehicle body movably forward and backward through a forward movement mechanism, the forward movement mechanism includes a forward movement screw pair and a forward movement servo assembly, the forward movement screw pair includes a forward movement screw horizontally extending along the front and rear direction and rotatably connected to the vehicle body, a forward movement nut matching the forward movement screw and sleeved on the forward movement screw, the forward movement nut is fixedly connected to the lifting frame, and the forward movement servo assembly is used to drive the forward movement screw to rotate.
[0011] Preferably, the lifting servo assembly is arranged at the top of the lifting frame, and the lifting servo assembly includes a lifting servo motor and a lifting right-angle reducer connected to the output shaft of the lifting servo motor, and the output end of the lifting right-angle reducer is connected to the upper end of the lifting screw rod.
[0012] Preferably, the forward servo assembly is arranged on the vehicle body and located behind the forward screw rod, and the forward servo assembly includes a forward servo motor and a forward right-angle reducer connected to the output shaft of the forward servo motor, and the output end of the forward right-angle reducer is connected to the rear end of the forward screw rod.
[0013] Preferably, the full-servo forward-moving automatic guided vehicle further includes a servo drive unit for driving the vehicle body to move horizontally, and a control unit for controlling the action of the servo drive unit.
[0014] Further preferably, a laser guidance radar is provided on the top of the vehicle body, and an obstacle avoidance radar is provided on the bottom of the vehicle body, and the laser guidance radar and the obstacle avoidance radar are signal-connected to the control unit.
[0015] Further preferably, the obstacle avoidance radar includes a front obstacle avoidance radar arranged at the front end of the vehicle body, a rear obstacle avoidance radar arranged at the rear end of the vehicle body, and side obstacle avoidance radars arranged around the vehicle body, and the side obstacle avoidance radar is higher than the front obstacle avoidance radar and the rear obstacle avoidance radar.
[0016] Preferably, a distance measuring sensor is provided on the vehicle body, and the distance measuring sensor is located in front of the forward moving mechanism and below the attachment, and the distance measuring sensor is used to detect the distance between the vehicle body and the cargo.
[0017] Further preferably, there are at least two ranging sensors, and the two ranging sensors are spaced apart in the left-right direction.
[0018] Preferably, the vehicle body is also provided with a detection camera for detecting a docking mark, and the detection camera is arranged below the attachment.
[0019] Preferably, the attachment is an adjustable-distance attachment.
[0020] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:
[0021] The utility model provides a full-servo forward-moving automatic guided vehicle, comprising a vehicle body, a lifting mechanism arranged on the vehicle body, and accessories connected to the lifting mechanism. The lifting mechanism comprises a lifting frame, a lifting plate connected to the lifting frame and used for fixing the accessories, a lifting screw pair and a lifting servo assembly, so that the lifting screw of the lifting screw pair extends vertically in the up and down directions and is rotatably connected to the lifting frame, and the lifting screw nut is fixedly connected to the lifting plate, and the lifting frame is connected to the vehicle body movably forward and backward through the forward mechanism. The forward mechanism comprises a forward screw pair and a forward servo assembly, so that the forward screw of the forward screw pair extends horizontally in the front and rear directions and is rotatably connected to the vehicle body, and the forward screw nut is fixedly connected to the lifting frame, and the lifting screw and the forward screw can be driven to rotate respectively by the lifting servo assembly and the forward servo assembly, so as to realize accurate positioning and accurate alignment of the accessories in the front and rear directions and the up and down directions, and the positioning accuracy is high and the position reproducibility is good, and the vehicle is particularly suitable for high-precision docking, transportation and stacking of mold goods. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a front view schematic diagram of a preferred embodiment of the utility model.
[0023] Figure 2 yes Figure 1 Schematic top view of .
[0024] Figure 3 yes Figure 1 Schematic cross-sectional view along the AA direction.
[0025] Among them: 10. Vehicle body; 11. Servo drive unit; 12. Control unit; 13. Laser guidance radar; 141. Front obstacle avoidance radar; 142. Rear obstacle avoidance radar; 143. Side obstacle avoidance radar; 15. Distance sensor; 16. Detection camera; 20. Lifting mechanism; 21. Lifting frame; 22. Lifting plate; 23. Lifting screw pair; 231. Lifting screw; 232. Lifting nut; 24. Lifting servo motor; 25. Lifting right-angle reducer; 30. Adjustable distance attachment; 40. Forward mechanism; 41. Forward screw pair; 411. Forward screw; 412. Forward nut; 42. Forward right-angle reducer. DETAILED DESCRIPTION
[0026] like Figures 1 to 3As shown, the full-servo forward-moving automatic guided vehicle provided by the utility model includes a vehicle body 10 that can be moved horizontally, a lifting mechanism 20 arranged on the vehicle body, and an adjustable distance attachment 30 connected to the lifting mechanism 20, wherein the lifting mechanism 20 includes a lifting frame 21, a lifting plate 22 connected to the lifting frame 21 movably up and down, a lifting screw pair 23 and a lifting servo assembly, the lifting plate 22 is used to fix the attachment 30, the lifting screw pair 23 includes a lifting screw 231 that vertically extends in the up and down direction and is rotatably connected to the lifting frame 21, and a lifting screw matched with the lifting screw 231 and sleeved on the lifting screw 231. The nut 232 is fixedly connected to the lifting plate 22, and the lifting servo assembly is used to drive the lifting screw 231 to rotate; the lifting frame 21 is connected to the vehicle body 10 so as to be movably forward and backward through the forward movement mechanism 40, and the forward movement mechanism 40 includes a forward movement screw pair 41 and a forward movement servo assembly. The forward movement screw pair 41 includes a forward movement screw 411 horizontally extending along the front and rear direction and rotatably connected to the vehicle body 10, and a forward movement screw nut 412 matched with the forward movement screw 411 and sleeved on the forward movement screw 411. The forward movement screw nut 412 is fixedly connected to the lifting frame 21, and the forward movement servo assembly is used to drive the forward movement screw 411 to rotate.
[0027] The advantage of this arrangement is that the lifting servo assembly and the forward servo assembly can respectively drive the lifting screw and the forward screw to rotate, thereby achieving precise positioning and alignment of the accessories in the front and rear directions and the up and down directions. It has high positioning accuracy and good position reproducibility, and is particularly suitable for high-precision docking, transportation and stacking of mold goods.
[0028] In this embodiment, the lifting servo assembly is arranged at the top of the lifting frame 21, and the lifting servo assembly includes a lifting servo motor 24 and a lifting right-angle reducer 25 connected to the output shaft of the lifting servo motor 24, and the output end of the lifting right-angle reducer 25 is connected to the upper end of the lifting screw rod 231; the forward servo assembly is arranged on the vehicle body 10 and is located behind the forward screw rod 411, and the forward servo assembly includes a forward servo motor (not shown in the figure) and a forward right-angle reducer 42 connected to the output shaft of the forward servo motor, and the output end of the forward right-angle reducer 42 is connected to the rear end of the forward screw rod 411.
[0029] The advantage of this setting is that it can facilitate weight counterweighting, making the entire full-servo forward-moving automatic guided vehicle more stable.
[0030] Furthermore, the full-servo forward-moving automatic guided vehicle also includes a servo drive unit 11 for driving the vehicle body 10 to move horizontally (forward, backward, turning), and a control unit 12 for controlling the action of the servo drive unit 11 to achieve full servo drive. The operating accuracy of the servo drive unit 11 is ±5mm.
[0031] Furthermore, a laser guidance radar 13 is provided on the top of the vehicle body 10, and an obstacle avoidance radar is provided on the bottom of the vehicle body 10. The laser guidance radar 13 and the obstacle avoidance radar are connected to the control unit 12 by signals, so as to feed back signals to the control unit 12 as a basis for decision making.
[0032] Furthermore, the obstacle avoidance radar includes a front obstacle avoidance radar 141 arranged at the front end of the vehicle body 10, a rear obstacle avoidance radar 142 arranged at the rear end of the vehicle body 10, and a side obstacle avoidance radar 143 arranged around the vehicle body 10 to achieve all-round obstacle avoidance in the horizontal direction. Specifically, the side obstacle avoidance radar 143 is higher than the front obstacle avoidance radar 141 and the rear obstacle avoidance radar 142, and is suspended on the outside of the vehicle body 10.
[0033] Furthermore, a distance measuring sensor 15 is provided on the vehicle body 10, and the distance measuring sensor 15 is located in front of the forward moving mechanism 40 and below the attachment 30. The distance measuring sensor 15 is used to detect the distance between the vehicle body 10 and the cargo. The distance measuring sensor 15 is connected to the control unit 12 signal so that the control unit 12 can determine the current relative position of the vehicle body 10 and the cargo. In order to facilitate the judgment of whether the vehicle body 10 and the cargo are parallel, further, there are two distance measuring sensors 15, and the two distance measuring sensors 15 are arranged at intervals in the left and right directions.
[0034] In order to automatically stop the movement of the vehicle body 10 after it is in place, in this embodiment, a detection camera 16 for detecting the docking mark is further provided on the vehicle body 10 , and the detection camera 16 is arranged below the attachment 30 .
[0035] It should be noted that the spacing adjustment of the attachment 30 is also achieved by means of a servo motor in conjunction with a screw pair, which will not be elaborated here. Its operating accuracy is as high as ±1mm. In this embodiment, the up and down movement of the lifting plate 22 relative to the lifting frame 21 and the front and rear movement of the lifting frame 21 relative to the vehicle body 10 are both coordinated with a slide rail pair (not shown in the figure) to reduce the load of each screw pair.
[0036] The operation process of the full-servo forward-moving automatic guided vehicle in this application is described below:
[0037] In the first step, the control unit 12 controls the servo drive unit 11 to drive the vehicle body 10 to complete the forward, backward and turning movements, and under the guidance of the laser guidance radar 13, the vehicle body 10 is moved to the corresponding pickup station or delivery station.
[0038] In the second step, the control unit 12 sends a command to the servo drive unit 11 according to the distance signal detected by the distance measuring sensor 15, causing it to act until the vehicle body 10 is adjusted to be parallel to the cargo.
[0039] In the third step, the control unit 12 controls the servo drive unit 11 to move, driving the vehicle body 10 to move forward and backward until the detection camera 16 detects the docking mark of the pickup station or the delivery station.
[0040] In the fourth step, the control unit 12 sends a command to the spacing adjustment mechanism of the attachment 30 to adjust the spacing of the attachment 30 to a suitable state.
[0041] In the fifth step, the control unit 12 sends instructions to the lifting servo assembly and the forward movement servo assembly to adjust the attachment 30 to the pickup or placement position to achieve accurate pickup or placement.
[0042] During operation, the obstacle avoidance radar monitors the surrounding environment in real time to achieve safe obstacle avoidance.
[0043] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it accordingly. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.
Claims
1. A full-servo forward-moving automatic guided vehicle, comprising: A vehicle body that can move horizontally; A lifting mechanism disposed on the vehicle body; An attachment connected to the lifting mechanism; Features: The lifting mechanism includes a lifting frame, a lifting plate connected to the lifting frame movably up and down, a lifting screw pair and a lifting servo assembly, the lifting plate is used to fix the attachment, the lifting screw pair includes a lifting screw extending vertically in the up and down direction and rotatably connected to the lifting frame, a lifting nut matching the lifting screw and sleeved on the lifting screw, the lifting nut is fixedly connected to the lifting plate, and the lifting servo assembly is used to drive the lifting screw to rotate; The lifting frame is connected to the vehicle body movably forward and backward through a forward movement mechanism, the forward movement mechanism includes a forward movement screw pair and a forward movement servo assembly, the forward movement screw pair includes a forward movement screw horizontally extending along the front and rear direction and rotatably connected to the vehicle body, a forward movement nut matching the forward movement screw and sleeved on the forward movement screw, the forward movement nut is fixedly connected to the lifting frame, and the forward movement servo assembly is used to drive the forward movement screw to rotate.
2. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The lifting servo assembly is arranged on the top of the lifting frame, and the lifting servo assembly includes a lifting servo motor and a lifting right-angle reducer connected to the output shaft of the lifting servo motor, and the output end of the lifting right-angle reducer is connected to the upper end of the lifting screw rod.
3. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The forward servo assembly is arranged on the vehicle body and is located behind the forward screw rod. The forward servo assembly includes a forward servo motor and a forward right-angle reducer connected to the output shaft of the forward servo motor. The output end of the forward right-angle reducer is connected to the rear end of the forward screw rod.
4. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The full-servo forward-moving automatic guided vehicle also includes a servo drive unit for driving the vehicle body to move horizontally, and a control unit for controlling the action of the servo drive unit.
5. The full-servo forward-moving automatic guided vehicle according to claim 4, characterized in that: A laser guidance radar is arranged on the top of the vehicle body, and an obstacle avoidance radar is arranged on the bottom of the vehicle body. The laser guidance radar and the obstacle avoidance radar are connected to the control unit by signal.
6. The full-servo forward-moving automatic guided vehicle according to claim 5, characterized in that: The obstacle avoidance radar includes a front obstacle avoidance radar arranged at the front end of the vehicle body, a rear obstacle avoidance radar arranged at the rear end of the vehicle body, and side obstacle avoidance radars arranged around the vehicle body, and the side obstacle avoidance radar is higher than the front obstacle avoidance radar and the rear obstacle avoidance radar.
7. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The vehicle body is provided with a distance measuring sensor, which is located in front of the forward moving mechanism and below the attachment, and is used to detect the distance between the vehicle body and the cargo.
8. The full-servo forward-moving automatic guided vehicle according to claim 7, characterized in that: There are at least two distance measuring sensors, and the two distance measuring sensors are arranged at intervals along the left-right direction.
9. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The vehicle body is also provided with a detection camera for detecting a docking mark, and the detection camera is arranged below the attachment.
10. The full-servo forward-moving automatic guided vehicle according to claim 1, characterized in that: The attachment is an adjustable distance attachment.