AGV device for transportation based on machine vision

Abstract

The utility model discloses a machine vision-based AGV device for transportation, which comprises a guide rail frame, the top of the guide rail frame is connected with an AGV transport vehicle in a sliding manner, four corners of the bottom of the AGV transport vehicle are all connected with universal driving wheels in a rotating manner, the bottom of the AGV transport vehicle is connected with a folding lifting frame assembly, and the folding lifting frame assembly is connected with the bottom of the AGV transport vehicle. The folding lifting frame assembly comprises a bottom plate, the outer wall of the top of the bottom plate is movably connected with the guide rail frame through a first folding rod and a second folding rod, the guide rail frame is arranged at the bottom of the AGV and used in cooperation with the first folding rod and the second folding rod, and therefore the AGV can be conveniently controlled to be lifted, and the AGV can be conveniently lifted. And by arranging the universal driving wheels for supporting the bottom of the AGV transport vehicle and suspending the bottom plate, the AGV transport vehicle can climb to a truck compartment conveniently, and therefore the practicability of equipment use is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV transport vehicle devices, in particular to an AGV device for transportation based on machine vision. Background Art

[0002] The AGV transfer vehicle is an intelligent vehicle that can realize unmanned driving, automatic navigation and cargo transportation. It has a high degree of automation and can drive autonomously according to preset programs and routes to complete cargo loading and unloading and transportation tasks. It is highly flexible and can flexibly adjust the driving route and transportation method according to different working environments and task requirements. When using existing AGV transfer vehicles, it is not convenient to automatically move the transported items and the AGV transfer vehicle itself to the interior of the truck compartment, which is not convenient to improve the practicality of the equipment. Utility Model Content

[0003] The purpose of the utility model is to provide an AGV device for transportation based on machine vision to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A machine vision-based transport AGV device comprises a guide rail frame, the top of the guide rail frame is slidably connected to an AGV transport vehicle, the four corners of the bottom of the AGV transport vehicle are rotatably connected to universal drive wheels, the bottom of the AGV transport vehicle is connected to a folding lifting frame assembly, the folding lifting frame assembly comprises a bottom plate, the top outer wall of the bottom plate is movably connected to the guide rail frame by a first folding rod and a second folding rod, the first folding rod and the second folding rod are rotatably connected by an axle pin, and the first folding rod and the second folding rod are used to push the guide rail frame to lift and lower.

[0006] In a preferred embodiment of the utility model, a protective frame is fixedly installed on the outer wall of the AGV transport vehicle, a visual recognition camera is fixedly installed on the outer wall of the protective frame, a slide groove is opened on the top of the guide rail frame, and an opening is set on the side of the slide groove close to the visual recognition camera.

[0007] In a preferred embodiment of the utility model, the inner wall of the slide groove away from the visual recognition camera is rotatably connected to the screw through a bearing, and the outer wall of the bottom of the AGV transport vehicle is fixedly installed with a slide seat, and the outer wall of the slide seat is slidably connected with the inner wall of the slide groove.

[0008] In a preferred embodiment of the utility model, the outer wall of the screw is threadedly connected to the inner wall of the slide, the two outer walls of the screw are connected by a synchronous pulley and a synchronous belt transmission, a servo motor is fixedly installed on the inner wall of the guide rail frame, and the output shaft of the servo motor is connected to the outer wall of the screw by a gear meshing transmission.

[0009] In a preferred embodiment of the present utility model, ear hooks are fixedly installed at the top left of the bottom plate and the bottom left of the guide rail frame, and U-shaped guide rails are fixedly installed at the top right of the bottom plate and the bottom left of the guide rail frame.

[0010] In a preferred embodiment of the present utility model, a sliding rod is fixedly installed on the inner wall of the U-shaped guide rail, a second sliding seat is slidably connected to the inner wall of the U-shaped guide rail, and the first folding rod and the second folding rod are staggered.

[0011] In a preferred embodiment of the present utility model, the first folding rod and the second folding rod are cooperatively rotatably connected to the outer walls of the ear hook and the second sliding seat through a rotating shaft. A cylinder is fixedly installed on the top of the bottom plate, a push plate is fixedly installed on the outer wall of the output shaft of the cylinder, and the push plate is fixedly connected to the outer wall of the second sliding seat.

[0012] Additional aspects and advantages of the present utility model will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present utility model.

[0013] 1. By arranging a guide rail frame, a first folding rod and a second folding rod at the bottom of the AGV transport vehicle for combined use, it is convenient to control the lifting of the AGV transport vehicle, so as to conveniently control the lifting and position adjustment of the AGV transport vehicle. By providing universal driving wheels to support the bottom of the AGV transport vehicle and suspending the bottom plate, it is convenient to lift the AGV transport vehicle into the freight car compartment, thus improving the practicality of the equipment use;

[0014] 2. By arranging a sliding connection between the guide rail frame and the AGV transport vehicle, it is convenient to control the AGV transport vehicle to move out and into from the top of the guide rail frame, flexibly adjust the position of the AGV transport vehicle, and improve the practicality of the equipment use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present utility model will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0016] Figure 1 is a front view structural schematic diagram of a transport AGV device based on machine vision;

[0017] Figure 2 is a side view structural schematic diagram of a transport AGV device based on machine vision;

[0018] Figure 3 is a structural schematic diagram of a folding lifting frame of a transport AGV device based on machine vision;

[0019] Figure 4It is a schematic diagram of the working structure of the guide rail frame in an AGV device for transportation based on machine vision.

[0020] In the figure: guide rail frame 100, chute 110, lead screw 120, synchronous pulley 121, synchronous belt 122, servo motor 130, gear 131, bottom plate 200, first folding rod 210, second folding rod 220, ear hook 230, U-shaped guide rail 240, slide rod 250, second slide seat 260, cylinder 270, push plate 271, AGV transport vehicle 300, universal drive wheel 310, protective frame 320, vision recognition camera 330, slide seat 340. Specific implementation mode

[0021] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0022] Embodiment 1: As Figure 1 and 2 , it includes a guide rail frame 100. The top of the guide rail frame 100 is slidably connected to the AGV transport vehicle 300. Universal drive wheels 310 are rotatably connected to the four corners of the bottom of the AGV transport vehicle 300. The bottom of the AGV transport vehicle 300 is connected to a folding lifting frame assembly. The folding lifting frame assembly includes a bottom plate 200. The outer wall of the top of the bottom plate 200 is movably connected to the guide rail frame 100 through a first folding rod 210 and a second folding rod 220. The first folding rod 210 and the second folding rod 220 are rotatably connected through a shaft pin. The first folding rod 210 and the second folding rod 220 are used to push the guide rail frame 100 to lift.

[0023] The specific use scenario of this embodiment is: by setting the guide rail frame 100, the first folding rod 210, and the second folding rod 220 at the bottom of the AGV transport vehicle 300 and using them in cooperation, it is convenient to control the lifting of the AGV transport vehicle 300, so as to conveniently control the lifting and position adjustment of the AGV transport vehicle 300. By setting the universal drive wheels 310 to support the bottom of the AGV transport vehicle 300 and suspending the bottom plate 200, it is convenient to lift the AGV transport vehicle 300 into the freight car compartment, thus improving the practicality of the equipment use.

[0024] Embodiment 2: As Figure 3 and Figure 4A protective frame 320 is fixedly installed on the outer wall of the AGV transport vehicle 300, and a visual recognition camera 330 is fixedly installed on the outer wall of the protective frame 320. A slide groove 110 is opened on the top of the guide frame 100, and an opening is set on the side of the slide groove 110 close to the visual recognition camera 330. The inner wall of the slide groove 110 away from the visual recognition camera 330 is rotatably connected to the screw 120 through a bearing. A slide seat 340 is fixedly installed on the outer wall of the bottom of the AGV transport vehicle 300, and the outer wall of the slide seat 340 is slidably connected with the inner wall of the slide groove 110, and the outer wall of the screw 120 is threadedly connected with the inner wall of the slide seat 340. The outer walls of the two screws 120 are connected by transmission through a synchronous pulley 120 and a synchronous belt 122. A servo motor 130 is fixedly installed on the inner wall of the guide frame 100, and the output shaft of the servo motor 130 is connected by meshing transmission with the outer wall of the screw 120 through a gear 131.

[0025] The specific usage scenario of this embodiment is: by turning on the servo motor 130, the servo motor 130 can drive the screw 120 to rotate, thereby pushing the AGV transport vehicle 300 to be removed from the top of the guide rail frame 100 or moving the GV transport vehicle 300 to the top of the guide rail frame 100.

[0026] Example 3: Figure 3 , an ear hook 230 is fixedly installed on the top left side of the base plate 200 and the bottom left side of the guide rail frame 100, a U-shaped guide rail 240 is fixedly installed on the top right side of the base plate 200 and the bottom left side of the guide rail frame 100, a sliding rod 250 is fixedly installed on the inner wall of the U-shaped guide rail 240, and the inner wall of the U-shaped guide rail 240 is slidably connected to the second slide seat 260, the first folding rod 210 and the second folding rod 220 are staggered, and the first folding rod 210 and the second folding rod 220 are rotatably connected through the ear hook 230 and the outer wall of the second slide seat 260 through a rotating shaft, a cylinder 270 is fixedly installed on the top of the base plate 200, and a push plate 271 is fixedly installed on the outer wall of the output shaft of the cylinder 270, and the push plate 271 is fixedly connected to the outer wall of the second slide seat 260.

[0027] The specific usage scenario of this embodiment is: by turning on the cylinder 270, the cylinder 270 pushes the push plate 271 to drive the second slide seat 260 to slide on the inner wall of the U-shaped guide rail 240, and then pushes the first folding rod 210 and the second folding rod 220 to slide and then push the guide rail frame 100 to rise, so that the bottom height of the universal drive wheel 310 exceeds the bottom of the truck compartment.

[0028] The working principle of the present utility model is as follows: When in use, those skilled in the art place the object to be transported on the top of the AGV transport vehicle, and drive the AGV transport vehicle to move by driving the universal drive wheels. When it is necessary to lift the AGV transport vehicle to the truck carriage, by opening the cylinder 270, when the cylinder 270 pushes the push plate 271 to drive the second slide seat 260 to slide on the inner wall of the U-shaped guide rail 240, it can push the first folding rod 210 and the second folding rod 220 to slide and then push the guide rail frame 100 to rise, so that the bottom height of the universal drive wheel 310 exceeds the bottom of the truck carriage. Then, by opening the servo motor 130, the servo motor 130 can drive the lead screw 120 to rotate, thereby pushing the AGV transport vehicle 300 to move from the top of the guide rail frame 100 to the truck carriage. The universal drive wheel 310 at the bottom of the AGV transport vehicle 300 is slidably connected to the inner wall of the truck carriage. Subsequently, by retracting the cylinder 270, the first folding rod 210 and the second folding rod 220 gradually overlap, causing the bottom plate 200 to be lifted upward to below the guide rail frame 100, and the bottom plate 200 is retracted to below the guide rail frame 100. Subsequently, by rotating the servo motor 130 in the reverse direction, the guide rail frame 100 moves below the AGV transport vehicle 300 under the reverse acting force of the lead screw 120, so that the AGV transport vehicle 300 is automatically transferred from the ground to the truck carriage, facilitating automatic climbing.

[0029] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the claims and their equivalents.

Claims

1. An AGV device for transportation based on machine vision, comprising a guide rail frame (100), wherein an AGV transport vehicle (300) is slidably connected to the top of the guide rail frame (100), and universal drive wheels (310) are rotatably connected to the four corners of the bottom of the AGV transport vehicle (300), characterized in that, The bottom of the AGV transport vehicle (300) is connected to a folding lifting frame assembly, the folding lifting frame assembly comprising a base plate (200), the top outer wall of the base plate (200) and the guide rail frame (100) are movably connected via a first folding rod (210) and a second folding rod (220), the first folding rod (210) and the second folding rod (220) are rotatably connected via an axle pin, and the first folding rod (210) and the second folding rod (220) are used to push the guide rail frame (100) to move up and down.

2. The AGV device for transportation based on machine vision according to claim 1, characterized in that, A protective frame (320) is fixedly mounted on the outer wall of the AGV transport vehicle (300), a visual recognition camera (330) is fixedly mounted on the outer wall of the protective frame (320), a slide groove (110) is provided on the top of the guide rail frame (100), and an opening is provided on a side of the slide groove (110) close to the visual recognition camera (330).

3. The AGV device for transportation based on machine vision according to claim 2, characterized in that, The inner wall of the slide groove (110) away from the visual recognition camera (330) is rotatably connected to the lead screw (120) through a bearing, and the outer wall of the bottom of the AGV transport vehicle (300) is fixedly installed with a slide seat (340), and the outer wall of the slide seat (340) is slidably connected with the inner wall of the slide groove (110).

4. An AGV device for transportation based on machine vision according to claim 3, characterized in that, The outer wall of the lead screw (120) is threadedly connected to the inner wall of the slide seat (340), and the outer walls of the two lead screws (120) are connected by transmission via a synchronous pulley (121) and a synchronous belt (122). A servo motor (130) is fixedly mounted on the inner wall of the guide rail frame (100), and the output shaft of the servo motor (130) is meshingly connected to the outer wall of the lead screw (120) via a gear (131).

5. The AGV device for transportation based on machine vision according to claim 1, characterized in that, The left top of the bottom plate (200) and the left bottom of the guide rail frame (100) are both fixedly mounted with an ear hook (230), and the right top of the bottom plate (200) and the left bottom of the guide rail frame (100) are both fixedly mounted with a U-shaped guide rail (240).

6. The AGV device for transportation based on machine vision according to claim 5, wherein, The inner wall of the U-shaped guide rail (240) is fixedly mounted with a sliding rod (250), the inner wall of the U-shaped guide rail (240) is slidably connected to a second sliding seat (260), and the first folding rod (210) and the second folding rod (220) are staggeredly distributed.

7. An AGV device for transportation based on machine vision according to claim 6, characterized in that, The first folding rod (210) and the second folding rod (220) are rotatably connected through the ear hook (230) and the outer wall of the second slide seat (260) via a rotating shaft; a cylinder (270) is fixedly installed on the top of the base plate (200); a push plate (271) is fixedly installed on the outer wall of the output shaft of the cylinder (270); and the push plate (271) is fixedly connected to the outer wall of the second slide seat (260).

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