Automatic navigation device capable of carrying low skip car

Abstract

The utility model discloses an automatic navigation device capable of carrying a low skip car, which comprises an AGV (Automatic Guided Vehicle) main body, and the AGV main body comprises a chassis assembly which is horizontally arranged; the main control mechanism is fixedly and vertically arranged on the chassis assembly; the first depth camera and the first radar are fixedly arranged on the chassis assembly and are far away from one side of the main control mechanism; the second depth camera is fixedly arranged on the rear side of the main control mechanism; the second radar is fixedly arranged at the upper end of the main control mechanism; and the jacking mechanism is movably arranged on the chassis assembly and can be folded and accommodated in the chassis assembly. The low skip car is sensed and identified through the depth camera and / or the radar, and the low skip car is quickly transferred by the automatic navigation device through the cooperation of the AGV main body and the jacking mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, and particularly relates to an automatic navigation device capable of carrying low-lying material trucks. Background Art

[0002] An Automated Guided Vehicle (AGV) is powered by a single or multiple drive wheels to enable the AGV to move forward, backward or laterally. There are many low-lying material trucks in the existing industrial logistics handling process, and it is difficult for conventional AGVs to reach under their bottoms for handling.

[0003] The publication number CN115744744A provides an automatic guided pallet handling transport vehicle, which includes a main body vehicle and a split vehicle; the main body vehicle includes: a vehicle body, accommodation grooves arranged in parallel on the left and right sides of the vehicle body, a ground clearance mechanism fixedly installed on the vehicle body, a main body vehicle drive wheel assembly and a moving universal wheel; the split vehicle includes: a lifting mechanism, a split vehicle drive wheel assembly and a lifting plate; the split vehicle can be placed in the accommodation groove of the main body vehicle, and there can be one or two split vehicles; the ground clearance mechanism is used to lift and lower the split vehicle. Although this technical solution can achieve the handling operation of low-lying material trucks, the transport vehicle adopting this technical solution requires multiple steps to handle low-lying material trucks, which takes a long time and affects the handling efficiency to a certain extent; therefore, an automatic navigation device capable of carrying low-lying material trucks is provided to solve the above problems. Summary of the Invention

[0004] One of the purposes of the utility model is to provide an automatic navigation device capable of carrying low-lying material trucks, so as to solve the problems that the existing automatic navigation device takes a long time and has low handling efficiency when carrying low-lying material trucks.

[0005] The automatic navigation device capable of carrying low-lying material trucks of the utility model can be realized by the following technical solutions:

[0006] The automatic navigation device capable of carrying low-lying material trucks of the utility model includes: an AGV main body, which includes a horizontally arranged chassis assembly; a main control mechanism fixedly arranged vertically on the chassis assembly; a first depth camera and a first radar respectively fixedly arranged on the chassis assembly and on one side far away from the main control mechanism; a second depth camera fixedly arranged at the rear of the main control mechanism; a second radar fixedly arranged at the upper end of the main control mechanism; the low-lying material truck is sensed and identified by one or more of the first depth camera, the first radar, the second depth camera and the second radar, so that the center line of the chassis assembly is collinear with the center line of the low-lying material truck;

[0007] The lifting mechanism is movably arranged on the chassis assembly and can be folded and accommodated in the chassis assembly. The lifting mechanism performs lifting operations on the low-loading trolley arranged thereon.

[0008] In one embodiment, the AGV main body further includes a position inductor, which is fixedly arranged on the back of the main control mechanism and is arranged below the second depth camera.

[0009] In one embodiment, the chassis assembly includes an integrally formed chassis main body, on which there is an accommodation cavity, and the lifting mechanism can be folded and accommodated in the accommodation cavity; a driving wheel structure and a plurality of universal wheels respectively arranged at the lower end of the chassis main body.

[0010] In one embodiment, buffer pads are respectively arranged on the opposite two side ends of the chassis main body; a buffer strip is arranged on the side of the chassis main body.

[0011] In one embodiment, the main control mechanism includes an outer shell body, which is a hollow cavity, and the outer shell body and the chassis main body are integrally welded into an L shape; a circuit board and a battery assembly respectively fixedly arranged in the outer shell body; a display screen, a button assembly and a charging assembly respectively fixedly penetrating through the outer shell body and electrically connected to the circuit board.

[0012] In one embodiment, the lifting mechanism includes at least one lifting assembly, which can be folded and accommodated in the accommodation cavity; a lifting plate that is in transmission connection with at least one of the lifting assemblies and is movably arranged above the chassis main body.

[0013] In one embodiment, the lifting assembly includes a driving device, which is arranged in the accommodation cavity; a connecting seat in transmission connection with the driving device; a first lifting structure and a second lifting structure respectively in transmission connection with the connecting seat and respectively connected to the lifting plate.

[0014] In one embodiment, both the first lifting structure and the second lifting structure include a fixing plate, which is fixedly arranged in the accommodation cavity; a first transmission rod with one end in transmission connection with the connecting seat and the other end in transmission connection with a first lifting rod; the other end of the first lifting rod is fixedly connected to the lifting plate and is in transmission connection with a second lifting rod; the second lifting rod is in contact connection with the lifting plate.

[0015] In one embodiment, the driving device is a screw motor, and the connecting seat is movably arranged on the screw of the driving device.

[0016] In one of the embodiments, the AGV main body further includes a third radar and a third depth camera; the third radar is fixedly arranged on the chassis assembly and is arranged opposite to the first radar; the third depth camera is fixedly arranged on the front side of the main control mechanism.

[0017] Compared with the prior art, the beneficial effects of the automatic navigation device of the present utility model capable of transporting low-lying material carts are as follows:

[0018] The automatic navigation device of the present utility model capable of transporting low-lying material carts senses and identifies the low-lying material cart through one or more of the first depth camera, the first radar, the second depth camera, and the second radar, adjusts the center line of the chassis assembly to be collinear with the center line of the low-lying material cart, so that the chassis assembly penetrates through the bottom of the low-lying material cart, and then through the cooperation of the AGV main body and the lifting mechanism, realizes the operation of quickly transferring the low-lying material cart by the automatic navigation device, effectively solving the problems that the existing automatic navigation device takes a long time to transport the low-lying material cart and has low transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a schematic structural diagram of an automatic navigation device of the present utility model capable of transporting low-lying material carts;

[0021] Figure 2 is Figure 1 a partial exploded structural diagram of the automatic navigation device of the present utility model capable of transporting low-lying material carts shown, including an AGV main body and a lifting mechanism;

[0022] Figure 3 is Figure 2 a schematic structural diagram of the AGV main body shown;

[0023] Figure 4 is Figure 2 a schematic structural diagram of another perspective of the AGV main body shown;

[0024] Figure 5 is Figure 2 an exploded structural diagram of the lifting mechanism shown, including a lifting assembly;

[0025] Figure 6 is Figure 5 a schematic structural diagram of the lifting assembly shown;

[0026] Figure 7 This is a schematic structural diagram of a low-profile trolley in an automatic navigation device capable of transporting low-profile trolleys according to the present utility model.

[0027] Reference numerals in the figure: 10, automatic navigation device; 11, AGV main body; 111, chassis assembly; 1111, chassis main body; 11111, accommodation cavity; 1112, drive wheel structure; 1113, caster wheel; 1114, buffer pad; 1115, buffer strip; 112, main control mechanism; 1121, outer housing; 1122, display screen; 1123, button assembly; 1124, charging assembly; 113, first depth camera; 114, first radar; 115, second depth camera; 116, second radar; 117, in-place sensor; 118, third radar; 119, third depth camera; 12, lifting mechanism; 121, lifting assembly; 1211, driving device; 1212, connecting seat; 1213, first lifting structure; 12131, fixing plate; 12132, first transmission rod; 12133, first lifting rod; 12134, second lifting rod; 1214, second lifting structure; 122, lifting plate; 20, low-profile trolley; 21, front wheel mechanism; 22, vertical beam of the rack; 23, rear wheel mechanism; 24, front cross beam of the rack. Detailed implementation manners

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the present utility model claimed, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0030] Please refer to Figure 1 and Figure 2 As shown, an automatic navigation device 10 capable of transporting low-profile trolleys according to the present utility model mainly includes an AGV main body 11 and a lifting mechanism 12. The AGV main body 11 is in an L-shaped structure and is the handling main body. The lifting mechanism 12 is movably arranged on the AGV main body 11 and can be folded and accommodated in the AGV main body 11. The low-profile trolley 20 arranged thereon is lifted and lowered through the lifting mechanism 12, so as to facilitate the automatic handling operation of the low-profile trolley 20.

[0031] Please refer to Figures 1-7As shown in the figure, in this embodiment, the AGV main body 11 includes a chassis assembly 111, a main control mechanism 112, a first depth camera 113, a first radar 114, a second depth camera 115, a second radar 116, a position inductor 117, a third radar 118, and a third depth camera 119; the chassis assembly 111 is horizontally arranged and serves as the driving and supporting main body; the main control mechanism 112 is fixedly and vertically arranged on one side of the chassis assembly 111 and forms an L shape with the chassis assembly 111, and is electrically connected to the chassis assembly 111, the first depth camera 113, the first radar 114, the second depth camera 115, the second radar 116, the position inductor 117, the third radar 118, and the third depth camera 119 respectively; the first depth camera 113 and the first radar 114 are respectively fixedly arranged on the chassis assembly 111 and on the side far from the main control mechanism 112, and the front wheel mechanism 21 of the low-profile material truck 20 is respectively sensed and identified by the first depth camera 113 and the first radar 114, the center line of the low-profile material truck 20 is calculated, and the center line of the chassis assembly 111 is adjusted to be collinear with the center line of the low-profile material truck 20, so that the chassis assembly 111 can extend into a preset position at the bottom of the low-profile material truck 20. Also, after the chassis assembly 111 enters the bottom of the low-profile material truck 20, the rear wheel mechanism 23 on the low-profile material truck 20 can be identified by the first radar 114, the relative position of the low-profile material truck 20 on the chassis assembly 111 is calculated, and the center line of the chassis assembly 111 is adjusted to be collinear with the center line of the low-profile material truck 20, so that the chassis assembly 111 can extend into a preset position at the bottom of the low-profile material truck 20; the second depth camera 115 is fixedly arranged at the rear side of the main control mechanism 112, the second radar 116 is fixedly arranged at the upper end of the main control mechanism 112, and the two of them respectively sense and identify the vertical beam 22 of the material rack of the low-profile material truck 20, calculate the center line of the low-profile material truck 20, and adjust the center line of the chassis assembly 111 to be collinear with the center line of the low-profile material truck 20, so that the chassis assembly 111 can extend into a preset position at the bottom of the low-profile material truck 20; the position inductor 117 is arranged on the back surface of the main control mechanism 112 and below the second depth camera 115. After the chassis assembly 111 enters the bottom of the low-profile material truck 20, the front cross beam 24 of the material rack on the low-profile material truck 20 is sensed for position in place by the position inductor 117. When the chassis assembly 111 extends into a preset position at the bottom of the low-profile material truck 20, the lifting mechanism 12 starts to work; the third radar 118 is fixedly arranged on the chassis assembly 111 and is arranged opposite to the first radar 114, the third depth camera 119 is fixedly arranged at the front side of the main control mechanism 112, and the third radar 118 and the third depth camera 119 cooperate to perform real-time sensing and obstacle avoidance operations on the running condition of the automatic navigation device 10 moving forward.In some embodiments, the AGV body 11 may also include only one or more of the first depth camera 113, the first radar 114, the second depth camera 115 and the second radar 116. The low material cart 20 is sensed and identified by the first depth camera 113, the first radar 114, the second depth camera 115 or the second radar 116, so that the center line of the chassis assembly 111 is collinear with the center line of the low material cart 20, so that the chassis assembly 111 can extend into the preset position at the bottom of the low material cart 20.

[0032] See also Figures 2-4 As shown, in this embodiment, the chassis assembly 111 includes a chassis body 1111, a driving wheel structure 1112 and a plurality of universal wheels 1113; the chassis body 1111 is integrally formed and serves as a supporting body; the driving wheel structure 1112 and the plurality of universal wheels 1113 are respectively arranged at the lower end of the chassis body 1111, and the chassis body 1111 is driven to move by the driving wheel structure 1112, and the plurality of universal wheels 1113 cooperate with the driving wheel structure 1112, so that the chassis body 1111 can move forward, backward or turn.

[0033] See also Figure 3 and Figure 4 As shown, specifically, a receiving cavity 1111 is provided on the chassis body 1111, and the lifting mechanism 12 can be folded and accommodated in the receiving cavity 1111; the driving wheel structure 1112 includes a driving motor and a rotating wheel, the driving motor is fixedly provided on the chassis body 1111 and can rotate forward and reverse, the rotating wheel is connected to the driving motor, and the driving motor drives the rotating wheel and the chassis body 1111 to move in turn. Specifically, buffer pads 1114 are provided on the opposite side ends of the chassis body 1111, which can be in contact with the lifting assembly 12, and the buffer pads 1114 convert the rigid contact connection between the lifting assembly 12 and the chassis body 1111 into a flexible contact connection; the side of the chassis body 1111 is provided with a buffer strip 1115, and the buffer strip 1115 converts the rigid contact connection between the side of the chassis body 1111 and other objects into a flexible contact connection.

[0034] See also Figures 1-4As shown, in this embodiment, the main control mechanism 112 includes an outer shell 1121, a circuit board (not shown), a display screen 1122, a battery assembly (not shown), a button assembly 1223 and a charging assembly 1224; the outer shell 1121 is a hollow cavity, which is welded integrally with the chassis body 1111 to form an L shape; the circuit board (not shown) and the battery assembly (not shown) are respectively fixedly arranged in the outer shell 1121, and the circuit board (not shown) is respectively electrically connected to the driving wheel structure 1112, the display screen 1122, the battery assembly (not shown), the button assembly 1223, the charging assembly 1224, the first depth camera 113, the first radar 114, the second depth camera 115, the second radar 116, the in-position sensor 117, the third radar 118, and the third depth camera 119, and the control technology used is It is a prior art, so its specific control process and the product model used will not be described here. As long as it meets the requirements of this application, the battery assembly (not shown) provides power to the circuit board (not shown), the driving wheel structure 1112, the display screen 1122, the first depth camera 113, the first radar 114, the second depth camera 115, the second radar 116, the in-position sensor 117, the third radar 118, and the third depth camera 119; the display screen 1122, the button assembly 1223 and the charging assembly 1224 are respectively fixedly arranged on the outer shell 1121, the display screen 1122 displays the operating status of the automatic navigation device 10 in real time, the button assembly 1223 controls the switch, emergency stop and function setting of the automatic navigation device 10, and the charging assembly 1224 charges the battery assembly (not shown).

[0035] See also Figure 1 、 Figure 2 and Figure 5 As shown, the jacking mechanism 12 includes at least one jacking assembly 121 and a lifting plate 122; the at least one jacking assembly 121 can be folded and accommodated in the accommodating cavity 1111; the lifting plate 122 is transmission-connected to the at least one jacking assembly 121 and movably disposed above the chassis body 1111. The at least one jacking assembly 121 drives the lifting plate 122 to move vertically, thereby lifting the low-profile trolley 20 disposed on the lifting plate 122. In this embodiment, two jacking assemblies 121 are each folded and accommodated in the accommodating cavity 1111 and transmission-connected to the lifting plate 122; in other embodiments, the number of jacking assemblies 121 can be one, three, four, or any other plurality, and the number is set according to actual needs.

[0036] See also Figure 5 and Figure 6As shown, in this embodiment, the jacking assembly 121 includes a driving device 1211, a connecting seat 1212, a first jacking structure 1213, and a second jacking structure 1214; the driving device 1211 is arranged in the accommodation cavity 1111; the connecting seat 1212 is in transmission connection with the driving device 1211, and the driving device 1211 drives the connecting seat 1212 to move horizontally; the first jacking structure 1213 and the second jacking structure 1214 are respectively in transmission connection with the connecting seat 1212 and are connected to the lifting plate 122. The connecting seat 1212 synchronously drives the first jacking structure 1213 and the second jacking structure 1214 to move longitudinally, so as to realize the jacking operation of the lifting plate 122.

[0037] Please refer to Figure 5 and Figure 6 As shown, specifically, the driving device 1211 is a lead screw motor, and the connecting seat 1212 is movably arranged on the lead screw of the driving device 1211; the first jacking structure 1213 includes a fixing plate 12131, a first transmission rod 12132, a first jacking rod 12133, and a second jacking rod 12134; the fixing plate 12131 is fixedly arranged in the accommodation cavity 11111; one end of the first transmission rod 12132 is in transmission connection with the connecting seat 1212, and the other end is in transmission connection with the first jacking rod 12133; the other end of the first jacking rod 12133 is fixedly connected to the lifting plate 122 and is in transmission connection with the second jacking rod 12134; the second jacking rod 12134 is in contact connection with the lifting plate 122. The driving device 1211 synchronously drives the first jacking rod 12133 and the second jacking rod 12134 to move longitudinally through the connecting seat 1212 and the first transmission rod 12132 in sequence, so as to drive the lifting plate 122 to realize the jacking operation. In this embodiment, the structure of the second jacking structure 1214 is similar to that of the first jacking structure 1213, so the specific structure thereof will not be described herein again.

[0038] The specific working process of an automatic navigation device 10 of the present utility model capable of carrying a low-lying trolley is as follows: it includes the following steps.

[0039] S1, the automatic navigation device 10 moves to a preset carrying station of the low-lying trolley 20 through the chassis assembly 111.

[0040] S2. Identify and sense the low-profile wagon 20 using one or more of the first depth camera 113, the first radar 114, the second depth camera 115, and the second radar 116, and adjust the centerline of the chassis assembly 111 to be collinear with the centerline of the low-profile wagon 20 so that the chassis assembly 111 can extend under the low-profile wagon 20. Specifically, use the first depth camera 113 or the first radar 114 provided on the chassis assembly 111 to sense and identify the front wheel mechanism 21 of the low-profile wagon 20 respectively, calculate the centerline of the low-profile wagon 20, and adjust the centerline of the chassis assembly 111 to be collinear with the centerline of the low-profile wagon 20. Alternatively, after the chassis assembly 111 enters the bottom of the low-profile wagon 20, use the first radar 114 to identify the rear wheel mechanism 23 on the low-profile wagon 20, calculate the relative position of the low-profile wagon 20 on the chassis assembly 111, and adjust the centerline of the chassis assembly 111 to be collinear with the centerline of the low-profile wagon 20. Use the second depth camera 115 or the second radar 116 provided on the main control mechanism 112 to sense and identify the vertical beam 22 of the rack of the low-profile wagon 20, calculate the centerline of the low-profile wagon 20, and adjust the centerline of the chassis assembly 111 to be collinear with the centerline of the low-profile wagon 20.

[0041] S3. When the chassis assembly 111 enters the preset position at the bottom of the low-profile wagon 20, the lifting mechanism 12 performs a lifting operation on the low-profile wagon 20 provided thereon so that the low-profile wagon 20 is separated from the contact with the ground surface. Specifically, use the in-place sensor 117 provided on the main control mechanism 112 to perform in-place sensing on the front cross beam 24 of the rack on the low-profile wagon 20. When the chassis assembly 111 enters the preset position at the bottom of the low-profile wagon 20, the lifting mechanism 12 starts to work.

[0042] S4. Drive the low-profile wagon 20 provided on the lifting mechanism 12 by the chassis assembly 111 to transfer to the preset placement station; then place the low-profile wagon 20 at the preset placement station through the cooperation of the chassis assembly 111 and the lifting mechanism 12.

[0043] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0044] The above-described embodiments only express several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. An automatic navigation device capable of carrying low-lying material trucks, characterized in that include: The AGV body includes a horizontally arranged chassis assembly; a main control mechanism fixedly arranged vertically on the chassis assembly; a first depth camera and a first radar respectively fixedly arranged on the chassis assembly and away from the main control mechanism; a second depth camera fixedly arranged on the rear side of the main control mechanism; and a second radar fixedly arranged on the upper end of the main control mechanism; the low feed vehicle is sensed and identified by one or more of the first depth camera, the first radar, the second depth camera and the second radar, so that the center line of the chassis assembly is collinear with the center line of the low feed vehicle; A jacking mechanism is movably arranged on the chassis assembly and can be folded and accommodated in the chassis assembly. The jacking mechanism performs lifting operations on the low trolley arranged thereon.

2. The automatic navigation device capable of transporting low-lying material trucks according to claim 1, characterized in that The AGV body further includes a position sensor, which is fixedly arranged on the back of the main control mechanism and below the second depth camera.

3. An automatic navigation device capable of transporting low-lying material trucks according to claim 1, characterized in that, The chassis assembly includes an integrally formed chassis body with a receiving cavity provided thereon, wherein the lifting mechanism can be folded and received in the receiving cavity; and a driving wheel structure and a plurality of universal wheels respectively provided at the lower end of the chassis body.

4. An automatic navigation device capable of transporting low-lying material trucks according to claim 3, characterized in that, Buffer pads are respectively provided on the two opposite ends of the chassis body; and buffer strips are provided on the sides of the chassis body.

5. The automatic navigation device capable of carrying a low-lying trolley according to claim 3, wherein The main control mechanism includes an outer shell, which is a hollow cavity. The outer shell and the chassis body are welded together into an L shape; a circuit board and a battery assembly are respectively fixed in the outer shell; and a display screen, a button assembly and a charging assembly are respectively fixed and penetrate the outer shell and are respectively electrically connected to the circuit board.

6. The automatic navigation device capable of carrying a low-lying trolley according to claim 4, wherein The jacking mechanism includes at least one jacking assembly, which can be folded and accommodated in the accommodating cavity; and a lifting plate that is transmission-connected to the at least one jacking assembly and movably arranged above the chassis body.

7. The automatic navigation device capable of carrying low-lying material trucks according to claim 6, characterized in that The jacking assembly includes a driving device, which is arranged in the accommodating cavity; a connecting seat transmission-connected to the driving device; a first jacking structure and a second jacking structure, which are respectively transmission-connected to the connecting seat and respectively connected to the lifting plate.

8. An automatic navigation device capable of transporting low-lying material trucks according to claim 7, characterized in that, The first lifting structure and the second lifting structure both include a fixed plate, which is fixedly arranged in the accommodating cavity; a first transmission rod with one end transmission-connected to the connecting seat, and the other end transmission-connected to the first lifting rod; the other end of the first lifting rod is fixedly connected to the lifting plate and transmission-connected to the second lifting rod; the second lifting rod is in contact with the lifting plate.

9. An automatic navigation device capable of transporting low-lying material trucks according to claim 7, characterized in that, The driving device adopts a screw motor, and the connecting seat is movably arranged on the screw of the driving device.

10. An automatic navigation device capable of transporting low-lying material trucks according to any one of claims 1-9, characterized in that The AGV body also includes a third radar and a third depth camera; the third radar is fixedly arranged on the chassis assembly and is arranged opposite to the first radar; the third depth camera is fixedly arranged on the front side of the main control mechanism.

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