AGV trolley

Abstract

The utility model discloses an AGV (Automatic Guided Vehicle) which comprises a vehicle body, a walking mechanism and a bearing mechanism, and the vehicle body comprises a chassis; the walking mechanism is arranged on the chassis and used for walking on the ground. The bearing mechanism comprises a lower bearing piece, a weighing sensor, an upper bearing piece and a plurality of connecting pieces, the weighing sensor is fixedly connected with the top of the lower bearing piece, the upper bearing piece is arranged right above the weighing sensor and abuts against the weighing sensor, the upper bearing piece is used for placing goods, and the connecting pieces are used for connecting the upper bearing piece and the lower bearing piece. And each connecting piece is fixedly connected with the bottom of the upper bearing piece. The beneficial effects of the utility model are that the AGV trolley can obtain the weight information of the goods in real time in the process of carrying the goods, and can be suitable for occasions where the weight of the goods needs to be accurately controlled or the overload operation of the AGV needs to be avoided, so that the AGV trolley can be applied to some specific scenes, and the working efficiency of the AGV trolley is improved. And the intelligent level, safety and efficiency of material carrying are improved.

Description

Technical Field

[0001] This utility model relates to the field of logistics handling technology, and in particular to an AGV (Automated Guided Vehicle) trolley. Background Technology

[0002] Automated Guided Vehicles (AGVs), also commonly known as AGV carts, are transport vehicles equipped with electromagnetic or optical self-navigation devices. They are capable of traveling along a predetermined navigation path and possess safety protection and various transfer functions. In industry, AGV carts are primarily used as material handling vehicles. Their travel path and movements are typically controlled by a computer, or their travel path is established using electromagnetic tracks. The AGV carts rely on information from these tracks to move and perform actions.

[0003] Existing AGVs (such as the AGV and AGV system disclosed in application number 202222084714.8) cannot obtain the weight information of goods in real time during the process of transporting goods. They are not suitable for occasions that require precise control of the weight of goods or need to avoid AGV overload operation. This results in the limited application of AGVs in certain specific scenarios and low intelligence, safety and efficiency of material handling. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose an AGV (Automated Guided Vehicle) to solve the technical problem that in the existing technology, AGVs cannot obtain the weight information of goods in real time during the transportation process, which limits the application of AGVs in certain specific scenarios and results in low intelligence, safety and efficiency of material handling.

[0005] To achieve the above technical objectives, the present invention provides an AGV (Automated Guided Vehicle) cart, comprising:

[0006] The vehicle body, including the chassis;

[0007] A walking mechanism, mounted on the chassis, is used for walking on the ground;

[0008] The supporting mechanism includes a lower support, a weighing sensor, an upper support, and multiple connecting parts. The weighing sensor is fixedly connected to the top of the lower support. The upper support is positioned directly above the weighing sensor and abuts against it. Goods are placed on the upper support. Each connecting part is fixedly connected to the bottom of the upper support. Each connecting part is also slidably connected to the lower support and can move up and down relative to the lower support.

[0009] Furthermore, the walking mechanism includes multiple walking wheels and multiple rotation drive components. The walking wheels are arranged opposite each other and spaced apart. The output shaft of each rotation drive component is coaxially and fixedly connected to the central shaft of each walking wheel, and is used to drive each walking wheel to rotate in the same direction and at the same speed.

[0010] Furthermore, both the lower support and the upper support are plate-shaped structures and are horizontally arranged.

[0011] Furthermore, each of the connecting components includes a pin and an end cap. The end cap is fixedly connected to the bottom of the pin, and the top of each pin is fixedly connected to the bottom of the upper support. The lower support has multiple connecting holes, and each pin is slidably connected to each connecting hole in a one-to-one correspondence.

[0012] Furthermore, the AGV trolley also includes a lifting mechanism, which is mounted on the chassis and connected to the lower support member, for driving the lower support member to move up and down so that the upper support member can receive the goods.

[0013] Furthermore, the lifting mechanism includes a sleeve, an inner shaft, a top plate, and a drive assembly. The sleeve is vertically arranged, and its bottom is fixedly connected to the chassis. The lower end of the inner shaft is slidably disposed inside the sleeve. The top plate is disposed outside the sleeve and fixedly connected to the upper end of the inner shaft. The top plate is connected to the lower support member. The drive assembly is connected to the inner shaft and is used to drive the inner shaft to slide along the length direction of the sleeve.

[0014] Furthermore, the AGV trolley also includes a slewing mechanism, which is disposed between the lower support and the top plate and connected to the lower support and the top plate, so that the lower support can rotate relative to the vehicle body in a horizontal plane.

[0015] Furthermore, the slewing mechanism includes a thrust ball bearing and an angle sensor. One outer ring of the thrust ball bearing is fixedly connected to the bottom of the lower support member, and the other outer ring of the thrust ball bearing is fixedly connected to the top plate. The angle sensor is disposed in the central hole of the thrust ball bearing and fixedly connected to the top plate to monitor the rotation angle of the lower support member.

[0016] Furthermore, the vehicle body also includes a cover, which is placed on the chassis to form a cavity with the chassis. A first slot communicating with the cavity is opened on the top of the cover, the thrust ball bearing passes through the slot, and the lifting mechanism is disposed in the cavity.

[0017] Furthermore, the vehicle body also includes multiple drawers, and multiple second slots communicating with the cavity are provided on the two side walls of the cover. Each drawer passes through the corresponding second slot and is placed into the cavity.

[0018] Compared with the prior art, the beneficial effects of this utility model include: when in use, the goods are placed on the upper support. After the goods are placed on the upper support, the goods exert downward pressure on the upper support due to their own weight, causing the upper support to move downward and squeeze the weighing sensor. Thus, the weight of the goods can be measured by the weighing sensor. This AGV can obtain the weight information of the goods in real time during the process of transporting goods. It is suitable for occasions that require precise control of the weight of goods or need to avoid the AGV from overloading. This allows the AGV to be applied in certain specific scenarios, improving the intelligence level, safety and efficiency of material handling. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of an AGV (Automated Guided Vehicle) provided by this utility model;

[0020] Figure 2 This is an exploded view of an AGV (Automated Guided Vehicle) provided by this utility model;

[0021] Figure 3 yes Figure 2 A three-dimensional structural diagram of one type of AGV (Automated Guided Vehicle) from another perspective;

[0022] In the diagram: 100 - vehicle body, 110 - chassis, 120 - cover, 121 - first slot, 122 - second slot, 130 - drawer, 200 - walking mechanism, 210 - walking wheel, 220 - rotation drive component, 300 - load-bearing mechanism, 310 - lower support component, 311 - connecting hole, 320 - load cell, 330 - upper support component, 340 - connecting component, 341 - pin, 342 - end cap, 400 - lifting mechanism, 410 - sleeve, 420 - top plate, 430 - drive assembly, 500 - slewing mechanism, 510 - thrust ball bearing, 520 - angle sensor, 600 - electronic control unit, 610 - navigation module, 620 - start button, 630 - stop button, 640 - emergency stop button. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0024] This utility model provides an AGV (Automated Guided Vehicle) trolley, the structure of which is as follows: Figure 1 and Figure 2 As shown, the vehicle includes a vehicle body 100, a traveling mechanism 200, and a load-bearing mechanism 300. The vehicle body 100 includes a chassis 110. The traveling mechanism 200 is mounted on the chassis 110 and is used to travel on the ground. The load-bearing mechanism 300 includes a lower support 310, a weighing sensor 320, an upper support 330, and multiple connecting members 340. The weighing sensor 320 is fixedly connected to the top of the lower support 310. The upper support 330 is located directly above the weighing sensor 320 and abuts against the weighing sensor 320. Goods are placed on the upper support 330. Each of the connecting members 340 is fixedly connected to the bottom of the upper support 330. Each of the connecting members 340 is also slidably connected to the lower support 310 and can move up and down relative to the lower support 310.

[0025] In use, goods are placed on the upper support 330. After the goods are placed on the upper support 330, the goods exert downward pressure on the upper support 330 due to their own weight, causing the upper support 330 to move downward and squeeze the weighing sensor 320. The elastic body of the weighing sensor 320 deforms, and the resistance value of the strain gauge of the weighing sensor 320 changes accordingly. Thus, the weight of the goods can be measured through the weighing sensor 320. Each of the connecting parts 340 can guide the movement of the upper support 330 to prevent the upper support 330 from moving laterally. This AGV can obtain the weight information of the goods in real time during the process of transporting goods. It is suitable for occasions that require precise control of the weight of goods or need to avoid the AGV from overloading. This allows the AGV to be applied in certain specific scenarios, improving the intelligence, safety and efficiency of material handling.

[0026] As a preferred embodiment, please refer to Figure 2 The walking mechanism 200 includes multiple walking wheels 210 and multiple rotation drive components 220. The walking wheels 210 are arranged opposite each other and spaced apart. The output shaft of each rotation drive component 220 is coaxially and fixedly connected to the central axis of each walking wheel 210, and is used to drive each walking wheel 210 to rotate in the same direction and at the same speed. The walking wheels 210 are Mecanum wheels. When each rotation drive component 220 is started at the same time, the output shaft of each rotation drive component 220 rotates, driving each walking wheel 210 to rotate in the same direction and at the same speed, thereby realizing the movement of the AGV.

[0027] As a preferred embodiment, please refer to Figure 2 and Figure 3 Both the lower support 310 and the upper support 330 are plate-shaped structures and are horizontally arranged, which facilitates the upper support 330 in receiving goods.

[0028] As a preferred embodiment, please refer to Figure 2 and Figure 3 Each of the connecting members 340 includes a pin 341 and an end cap 342. The end cap 342 is fixedly connected to the bottom of the pin 341, and the top of each pin 341 is fixedly connected to the bottom of the upper support member 330. The lower support member 310 has multiple connecting holes 311. Each pin 341 is slidably connected to each connecting hole 311 in a one-to-one correspondence. The movement of the upper support member 330 can be guided by each pin 341 to prevent the upper support member 330 from moving laterally. The end cap 342 prevents the pin 341 from moving out of the connecting hole 311 and separating from the lower support member 310, thereby improving the stability of the connection.

[0029] As a preferred embodiment, please refer to Figure 2 The AGV also includes a lifting mechanism 400, which is mounted on the chassis 110 and connected to the lower support 310. The lifting mechanism 400 drives the lower support 310 to move up and down so that the upper support 330 can receive the goods. When the AGV moves to the goods, the lifting mechanism 400 is activated, driving the lower support 310 to move upwards and the upper support 330 to move upwards so that the upper support 330 can receive the goods. After the upper support 330 receives the goods, the lifting mechanism 400 is activated again, driving the lower support 310 to move downwards and the upper support 330 to move downwards, allowing the upper support 330 to carry the goods away.

[0030] As a preferred embodiment, please refer to Figure 2 The lifting mechanism 400 includes a sleeve 410, an inner shaft, a top plate 420, and a drive assembly 430. The sleeve 410 is vertically arranged, and its bottom is fixedly connected to the chassis 110. The lower end of the inner shaft is slidably disposed inside the sleeve 410. The top plate 420 is disposed outside the sleeve 410 and fixedly connected to the upper end of the inner shaft. The top plate 420 is connected to the lower support member 310. The drive assembly 430 is connected to the inner shaft and is used to drive the inner shaft to slide along the length direction of the sleeve 410. When the drive assembly 430 is activated, it drives the inner shaft to slide along the length direction of the sleeve 410, thereby realizing the up-and-down movement of the inner shaft and driving the top plate 420 to move up and down, thus realizing the up-and-down movement of the lower support member 310 and the upper support member 330. The drive assembly 430 is prior art and will not be described in detail in this solution.

[0031] As a preferred embodiment, please refer to Figure 2 and Figure 3The AGV trolley also includes a slewing mechanism 500, which is disposed between the lower support 310 and the top plate 420 and connected to the lower support 310 and the top plate 420, so that the lower support 310 can rotate relative to the vehicle body 100 in the horizontal plane. When multiple AGVs work together to transport heavy objects, the slewing mechanism 500 plays a rotating role. This AGV trolley can also be used for multiple AGVs to work together to transport larger and heavier goods.

[0032] As a preferred embodiment, please refer to Figure 2 and Figure 3 The slewing mechanism 500 includes a thrust ball bearing 510 and an angle sensor 520. One outer ring of the thrust ball bearing 510 is fixedly connected to the bottom of the lower support 310, and the other outer ring of the thrust ball bearing 510 is fixedly connected to the top plate 420. The angle sensor 520 is disposed in the central hole of the thrust ball bearing 510 and fixedly connected to the top plate 420 to monitor the rotation angle of the lower support 310. When multiple AGVs work together to transport heavy objects, the thrust ball bearing 510 rotates, and the angle sensor 520 can monitor the rotation angle of the lower support 310. This AGV can also be used for multiple AGVs to work together to transport larger and heavier goods.

[0033] As a preferred embodiment, please refer to Figure 1 and Figure 2 The vehicle body 100 also includes a cover 120, which covers the chassis 110 to form a cavity with the chassis 110. A first slot 121 communicating with the cavity is opened on the top of the cover 120. The thrust ball bearing 510 passes through the slot. The lifting mechanism 400 is disposed in the cavity. Each of the rotating drive components 220 is disposed in the cavity, so that the lifting mechanism 400 and each of the rotating drive components 220 can be housed in the cavity and protected.

[0034] As a preferred embodiment, please refer to Figure 1 and Figure 2 The vehicle body 100 also includes multiple drawers 130. The two side walls of the cover 120 are provided with multiple second slots 122 that communicate with the cavity. Each drawer 130 passes through the corresponding second slot 122 and is placed into the cavity. The drawers 130 are designed to accommodate the control module, the communication module, the power module and the drive module, which facilitates debugging, maintenance and battery replacement.

[0035] As a preferred embodiment, please refer to Figure 1The AGV trolley further includes an electronic control unit 600, which includes a control module, a communication module, a power supply module, a drive module, and a navigation module 610. The control module is located in the first drawer 130 and electrically connected to the weighing sensor 320 to obtain weight data monitored by the weighing sensor 320. The control module is also electrically connected to the angle sensor 520 to obtain angle data monitored by the angle sensor 520. The communication module is located in the second drawer 130 and electrically connected to the weighing sensor 320 to obtain and upload the weight data monitored by the weighing sensor 320. The control module is also electrically connected to the angle sensor 520 to obtain and upload angle data monitored by the angle sensor 520. The power supply module is located in the third drawer 130 and is connected to each of the rotation drive components 220 and the drive... The drive component of component 430 is electrically connected to supply power to each of the rotating drive components 220 and the drive component of the drive assembly 430. The drive module includes multiple drivers, each of which is located inside the fourth drawer 130 and is electrically connected to each of the rotating drive components 220 and the drive component of the drive assembly 430 to start and stop each of the rotating drive components 220 and the drive component of the drive assembly 430. The navigation module 610 is located at the front end of the cover 120 for navigation. The navigation module 610 is a lidar or UWB module. Based on the weight information measured by the weighing sensor 320, the control module can adjust the AGV's handling strategy to optimize the handling process and improve handling efficiency. Through the communication module, this invention can upload weight information and other relevant data to the scheduling system for convenient data recording, report generation, and remote monitoring.

[0036] As a preferred embodiment, please refer to Figure 1 The electronic control unit 600 also includes a start button 620, a stop button 630, and an emergency stop button 640. The start button 620, the stop button 630, and the emergency stop button 640 are all located at the rear end of the cover 120 and are electrically connected to the electronic control system.

[0037] To better understand this utility model, the following is combined with... Figure 1 - Figure 3 The working principle of the technical solution of this utility model will be described in detail below:

[0038] In operation, when the AGV moves to the cargo location, the drive assembly 430 is activated, driving the inner shaft to slide along the length of the sleeve 410. This allows the inner shaft to move upward, causing the top plate 420 to move upward as well. This, in turn, causes the lower support 310 and the upper support 330 to move upward, allowing the upper support 330 to receive the cargo. After the upper support 330 receives the cargo, the drive assembly 430 is activated again, driving the inner shaft to slide along the length of the sleeve 410. This allows the inner shaft to move downward, causing the top plate 420 to move downward, thus causing the lower support 310 and the upper support 330 to move downward. The upper support 330 then carries the cargo away. After the upper support 330 receives the cargo, the cargo, due to its own weight,... The action applies downward pressure to the upper support 330, causing it to move downward and compress the weighing sensor 320. The elastic body of the weighing sensor 320 deforms, and the resistance value of the strain gauge changes accordingly. Thus, the weight of the goods can be measured through the weighing sensor 320. Each of the pins 341 guides the movement of the upper support 330, preventing lateral movement. This AGV can acquire real-time weight information during cargo handling, making it suitable for situations requiring precise weight control or avoiding overloading. This allows the AGV to be applied in specific scenarios, improving the intelligence, safety, and efficiency of material handling.

[0039] The AGV trolley provided by this utility model has the following beneficial effects:

[0040] (1) Each of the pins 341 can guide the movement of the upper bearing 330 to prevent the upper bearing 330 from moving laterally;

[0041] (2) Based on the weight information measured by the weighing sensor 320, the control module can adjust the AGV's handling strategy to optimize the handling process and improve handling efficiency. Through the communication module, this utility model can upload the weight information and other relevant data to the scheduling system for convenient data recording, report generation and remote monitoring.

[0042] (3) During the process of transporting goods, this AGV can obtain the weight information of the goods in real time, which can be applied to occasions where the weight of the goods needs to be precisely controlled or where it is necessary to avoid the AGV from overloading. This allows the AGV to be applied in certain specific scenarios, improving the level of intelligence, safety and efficiency of material handling.

[0043] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. An AGV (Automated Guided Vehicle) trolley, characterized in that, include: The vehicle body, including the chassis; A walking mechanism, mounted on the chassis, is used for walking on the ground; The supporting mechanism includes a lower support, a weighing sensor, an upper support, and multiple connecting parts. The weighing sensor is fixedly connected to the top of the lower support. The upper support is positioned directly above the weighing sensor and abuts against it. Goods are placed on the upper support. Each connecting part is fixedly connected to the bottom of the upper support. Each connecting part is also slidably connected to the lower support and can move up and down relative to the lower support.

2. The AGV trolley according to claim 1, characterized in that, The walking mechanism includes multiple walking wheels and multiple rotating drive components. The walking wheels are arranged opposite each other and spaced apart. The output shaft of each rotating drive component is coaxially and fixedly connected to the central axis of each walking wheel, and is used to drive each walking wheel to rotate in the same direction and at the same speed.

3. The AGV trolley according to claim 1, characterized in that, Both the lower support and the upper support are plate-shaped structures and are horizontally arranged.

4. The AGV trolley according to claim 1, characterized in that, Each of the connecting parts includes a pin and an end cap. The end cap is fixedly connected to the bottom of the pin, and the top of each pin is fixedly connected to the bottom of the upper support. The lower support has multiple connecting holes, and each pin is slidably connected to each connecting hole in a one-to-one correspondence.

5. The AGV trolley according to claim 1, characterized in that, It also includes a lifting mechanism, which is mounted on the chassis and connected to the lower support member, for driving the lower support member to move up and down so that the upper support member can receive the goods.

6. The AGV trolley according to claim 5, characterized in that, The lifting mechanism includes a sleeve, an inner shaft, a top plate, and a drive assembly. The sleeve is vertically arranged, and its bottom is fixedly connected to the chassis. The lower end of the inner shaft is slidably disposed inside the sleeve. The top plate is disposed outside the sleeve and fixedly connected to the upper end of the inner shaft. The top plate is connected to the lower support member. The drive assembly is connected to the inner shaft and is used to drive the inner shaft to slide along the length direction of the sleeve.

7. The AGV trolley according to claim 6, characterized in that, It also includes a slewing mechanism, which is disposed between the lower support and the top plate and connected to the lower support and the top plate, so that the lower support can rotate relative to the vehicle body in a horizontal plane.

8. The AGV trolley according to claim 7, characterized in that, The slewing mechanism includes a thrust ball bearing and an angle sensor. One outer ring of the thrust ball bearing is fixedly connected to the bottom of the lower support member, and the other outer ring of the thrust ball bearing is fixedly connected to the top plate. The angle sensor is disposed in the central hole of the thrust ball bearing and fixedly connected to the top plate to monitor the rotation angle of the lower support member.

9. The AGV trolley according to claim 8, characterized in that, The vehicle body also includes a cover, which is placed on the chassis to form a cavity with the chassis. A first slot communicating with the cavity is opened on the top of the cover, the thrust ball bearing passes through the slot, and the lifting mechanism is disposed in the cavity.

10. The AGV trolley according to claim 9, characterized in that, The vehicle body also includes multiple drawers. Multiple second slots, each communicating with the cavity, are provided on the two side walls of the cover. Each drawer passes through the corresponding second slot and is placed into the cavity.

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