Ground floating structure for AGV (Automatic Guided Vehicle)

Abstract

The utility model belongs to the technical field of transport vehicles, and particularly discloses a ground floating structure for an AGV (automatic guided vehicle), which comprises a fixed plate and a bottom plate which are vertically arranged in parallel, universal wheels are mounted on the lower side of the bottom plate, the length direction of the bottom plate is the front-back direction, guide shafts are mounted on the front side and the back side above the bottom plate, and springs are sleeved outside the guide shafts. A linear guide piece is fixedly connected to the fixing plate, the spring bears the linear guide piece, and the linear guide piece is arranged outside the guide shaft in a sleeving mode; the distance between the fixing plate and the bottom plate is automatically adjusted to adapt to the ground height change, the accurate position of a sensor at the bottom of the AGV is kept, and the environmental adaptability is improved; a pull rope encoder used for calculating the distance between the fixing plate and the bottom plate is installed on the fixing plate, a support is installed on the upper side of the bottom plate, a pull rope is arranged on the pull rope encoder, and the pull rope is downwards connected to the support. The distance change between the fixed plate and the bottom plate is calculated and fed back in real time, accurate data is provided for a control system, the AGV is helped to carry out finer path planning and adjustment, and the AGV is prevented from colliding with the ground.

Description

Technical Field

[0001] The utility model belongs to the technical field of transport vehicles, in particular to a ground-following floating structure for AGV. Background Art

[0002] AGV is the abbreviation of Automated Guided Vehicle, which refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical. It can travel along a specified guide path and has safety protection and various transfer functions.

[0003] Generally, the navigation device of an omnidirectional AGV needs to be installed on the center cross line of the AGV. When the AGV body is long, the navigation device will be far away from the auxiliary wheel or drive wheel, and the navigation device is generally required to be about 30mm above the ground. In this way, the AGV navigation device may collide with the ground due to errors between the ground and the AGV body during the operation of the AGV, affecting the operation of the AGV, causing damage to the navigation device and causing economic losses.

[0004] In the existing method, the navigation device is directly installed on the AGV body, and the ground along the AGV running route is polished and trimmed to ensure the flatness of the ground. The construction is complex and requires high precision, high cost, and low construction efficiency. Utility Model Content

[0005] In order to solve the problem that the existing AGV in the prior art is prone to collision with the ground during operation, a ground-following floating structure for AGV is proposed. The utility model provides the following technical solutions:

[0006] A ground-floating structure for an AGV comprises a fixed plate and a base plate arranged in parallel up and down, a universal wheel being installed on the lower side of the base plate, the length direction of the base plate being the front-to-back direction, guide shafts being installed on the front and rear sides above the base plate, a spring being provided on the outer sleeve of the guide shaft, a linear guide being fixedly connected to the fixed plate, the spring supporting the linear guide, the linear guide being provided on the outer sleeve of the guide shaft, a rope encoder for calculating the distance between the fixed plate and the base plate being installed on the fixed plate, a support being installed on the upper side of the base plate, a rope being provided on the rope encoder, and the rope being connected downwardly to the support.

[0007] Preferably, a landmark sensor is installed on the front side or the rear side of the base plate.

[0008] Preferably, a first mounting plate is fixedly connected to the front side of the base plate, the first mounting plate is L-shaped, and the output end of the landmark sensor is downwardly mounted on the first mounting plate.

[0009] Preferably, a magnetic navigation sensor is installed on the left or right side of the base plate.

[0010] Preferably, a second mounting plate is fixedly connected to the left or right side of the base plate, the second mounting plate is L-shaped, and the magnetic navigation sensor is mounted on the second mounting plate.

[0011] Preferably, the linear guide is a linear bearing.

[0012] Preferably, a card reader assembly for identifying the NFC coil is installed on the lower side of the base plate.

[0013] Preferably, the card reader assembly is connected to the base plate via a third mounting plate, and both sides of the third mounting plate are connected to the base plate via a bolt group, wherein the bolt group includes a long bolt and short bolts arranged on both sides of the long bolt.

[0014] Preferably, a nut is threadedly connected to the long bolt, and the nut abuts against the bottom side of the third mounting plate.

[0015] Preferably, a mounting through hole and a threaded hole are provided on the third mounting plate, the short bolt passes through the mounting through hole, and the long bolt is threadedly connected to the threaded hole.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. By designing universal wheels on the underside of the base and a floating structure (guide shaft, spring, linear guide) above, the AGV can flexibly cope with various uneven or sloping terrains, automatically adjusting the bottom height to maintain balance, reducing bumps, and significantly improving driving stability and terrain adaptability.

[0018] 2. Integrated landmark sensors and magnetic navigation sensors, through the dual navigation system, can achieve accurate positioning and path tracking even in complex environments;

[0019] 3. The card reader assembly is installed on the base plate through a bolt group, which is convenient for quick disassembly and replacement, reducing maintenance costs, improving work efficiency and maintenance convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the utility model;

[0022] Figure 3 This is a schematic diagram of the installation structure of the card reader assembly;

[0023] Figure 4 is a schematic diagram of the three-dimensional structure of the third mounting plate;

[0024] In the attached figure, 1. base plate; 2. universal wheel; 3. landmark sensor; 4. card reader assembly; 5. first mounting plate; 6. support; 7. limit plate; 8. guide shaft; 9. linear guide; 10. spring; 11. pull rope encoder; 12. fixing plate; 13. magnetic navigation sensor; 14. second mounting plate; 15. third mounting plate; 16. short bolt; 17. long bolt; 18. nut; 19. mounting through hole; 20. thread hole. DETAILED DESCRIPTION

[0025] The directional terms mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only used with reference to the directions of the drawings. Therefore, the directional terms used are used to illustrate rather than limit the invention of the utility model.

[0026] like Figure 1-4 As shown, a ground-following floating structure for an AGV includes a fixed plate and a base plate arranged in parallel above and below, a universal wheel mounted on the lower side of the base plate, the longitudinal direction of the base plate being the front-to-back direction, and guide shafts mounted on the front and rear sides of the upper side of the base plate. A spring is provided on the outer sleeve of the guide shaft, and a linear guide is fixedly connected to the fixed plate. The spring supports the linear guide, and the linear guide is provided outside the guide shaft. The distance between the fixed plate and the base plate is automatically adjusted to adapt to changes in ground height, maintain the accurate position of the AGV bottom sensor, and improve environmental adaptability. A pull-wire encoder for calculating the distance between the fixed plate and the base plate is mounted on the fixed plate, and a support is mounted on the upper side of the base plate. The pull-wire encoder is provided with a pull wire that passes downward through a hole in the fixed plate and is connected to the support. The distance change between the fixed plate and the base plate is calculated and fed back in real time, providing accurate data to the control system, helping the AGV to perform more precise path planning and adjustment, ensuring navigation accuracy, and preventing collisions with the ground. The AGV can flexibly cope with various complex terrains, such as uneven roads or slopes, effectively reducing bumps and improving driving stability.

[0027] Furthermore, a landmark sensor is installed on the front or rear side of the base plate. The front side of the base plate is fixedly connected to a first mounting plate, the first mounting plate is L-shaped, and the output end of the landmark sensor is downwardly mounted on the first mounting plate.

[0028] Furthermore, a magnetic navigation sensor is installed on the left or right side of the base plate. A second mounting plate is fixedly connected to the left or right side of the base plate, the second mounting plate is L-shaped, and the magnetic navigation sensor is installed on the second mounting plate.

[0029] The landmark sensors installed on the front or rear side of the base plate, as well as the magnetic navigation sensors installed on the left or right side, are firmly fixed by their respective L-shaped mounting plates, allowing the AGV to use both landmarks and magnetic strips for dual navigation. This enables precise positioning and path tracking even in complex environments, improving the robustness of the navigation system.

[0030] Furthermore, the upper end of the guide shaft is fixedly connected to a limit plate to prevent the guide shaft from separating from the linear guide.

[0031] Furthermore, the linear guides use linear bearings, which reduce friction during movement, improve mechanical efficiency, and extend service life. Furthermore, the high-precision characteristics of linear bearings also ensure the accuracy of guidance, further enhancing the operational stability of the AGV.

[0032] Furthermore, a card reader assembly is installed on the lower side of the base plate for identifying NFC (near field communication) coils, enabling wireless interaction between the AGV and ground markers or other devices, such as task reception and status updates, thereby improving the intelligence and flexibility of the system.

[0033] Furthermore, the card reader assembly is connected to the base plate via a third mounting plate. The third mounting plate is connected to the base plate on both sides by a bolt assembly comprising a long bolt and short bolts flanking the long bolt. Nuts are threaded onto the long bolts, which abut against the bottom side of the third mounting plate. The third mounting plate is provided with mounting holes and threaded holes, through which the short bolts pass and into which the long bolts thread. This provides a secure installation and facilitates quick removal and replacement during maintenance, reducing maintenance costs and improving work efficiency.

Claims

1. A ground-following floating structure for AGV, characterized in that: It includes a fixed plate and a base plate arranged in parallel above and below, a universal wheel is installed on the lower side of the base plate, the length direction of the base plate is the front-to-back direction, guide shafts are installed on the front and rear sides above the base plate, a spring is provided on the outer sleeve of the guide shaft, a linear guide is fixedly connected to the fixed plate, the spring supports the linear guide, the linear guide is sleeved on the outside of the guide shaft, a rope encoder for calculating the distance between the fixed plate and the base plate is installed on the fixed plate, a support is installed on the upper side of the base plate, a rope is provided on the rope encoder, and the rope is connected to the support downward.

2. The ground-following floating structure for AGV according to claim 1, characterized in that: A landmark sensor is installed on the front side or the rear side of the base plate.

3. The ground-following floating structure for AGV according to claim 2, characterized in that: The front side of the bottom plate is fixedly connected with a first mounting plate, the first mounting plate is L-shaped, and the output end of the landmark sensor is mounted downward on the first mounting plate.

4. The ground-following floating structure for AGV according to claim 1 or 2, characterized in that: A magnetic navigation sensor is installed on the left side or the right side of the base plate.

5. The ground-following floating structure for AGV according to claim 4, characterized in that: A second mounting plate is fixedly connected to the left or right side of the bottom plate. The second mounting plate is L-shaped, and the magnetic navigation sensor is mounted on the second mounting plate.

6. The ground-following floating structure for AGV according to claim 1, characterized in that: The linear guide member adopts a linear bearing.

7. The ground-following floating structure for AGV according to claim 1, characterized in that: A card reader assembly for identifying the NFC coil is installed on the lower side of the base plate.

8. The ground-following floating structure for AGV according to claim 7, characterized in that: The card reader assembly is connected to the base plate through a third mounting plate. Both sides of the third mounting plate are connected to the base plate through a bolt group. The bolt group includes a long bolt and short bolts arranged on both sides of the long bolt.

9. The ground-following floating structure for AGV according to claim 8, characterized in that: A nut is threadedly connected to the long bolt, and the nut abuts against the bottom side surface of the third mounting plate.

10. The ground-following floating structure for AGV according to claim 8, characterized in that: The third mounting plate is provided with a mounting through hole and a threaded hole. The short bolt passes through the mounting through hole, and the long bolt is threadedly connected to the threaded hole.

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