Vertical unmanned aerial vehicle transfer AGV trolley

Abstract

The utility model belongs to the technical field of AGV trolleys, and particularly relates to a vertical unmanned aerial vehicle transfer AGV trolley which comprises a child trolley and a mother trolley, the mother trolley is connected with the child trolley through a stay wire encoder, and mother trolley driving wheels are arranged at the bottom of the mother trolley and driven by a mother trolley driving motor. An electric appliance bin I is arranged in the middle of the child vehicle, two sets of jacking motors in the electric appliance bin I drive jacking mechanisms arranged on the two sides of the electric appliance bin correspondingly, child vehicle driving wheels are arranged at the bottom of the electric appliance bin I, and the child vehicle driving wheels are driven by a child vehicle driving motor arranged in the electric appliance bin I; the stay wire encoder, the primary vehicle driving motor, the secondary vehicle driving motor and the two groups of jacking motors are connected with a main control system on the primary vehicle, the main control system is connected with a communication module, and the main control system transmits displacement information to a remote control end through the communication module; according to the utility model, an operator only needs to remotely control the AGV outside a safe distance to complete the whole carrying process, so that time, labor and manpower are saved, and safety is realized.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the AGV dolly technical field, concretely relates to a vertical take-off unmanned plane transfer AGV dolly. BACKGROUND

[0002] At present, in the low-altitude economy, various manned and unmanned aircraft low-altitude flight activities are developing, and vertical take-off unmanned planes are widely used. The weight of the vertical take-off unmanned plane is close to 1 ton, and it is heavy. Currently, the plane is mainly lifted by manpower, and a small cart is inserted at the bottom. The plane is manually pushed. Usually, it needs to be coordinated by multiple people, which is time-consuming and laborious, and very dangerous, and easy to be injured. Therefore, an automatic handling trolley is urgently needed. There is no equipment on the market that can complete the transfer of this type of plane. SUMMARY

[0003] In view of the deficiencies of the prior art, the utility model provides a vertical take-off unmanned plane transfer AGV dolly. The operator only needs to remotely control the AGV dolly at a safe distance to complete the entire handling process, which saves time, labor and manpower and is safe.

[0004] A vertical take-off unmanned plane transfer AGV dolly, comprising a child car and a mother car, the mother car is provided with a child car accommodating groove corresponding to the child car, when not in use or carrying a plane, the child car is placed in the child car accommodating groove and is lapped on the mother car, when carrying a plane, the child car is separated from the child car accommodating groove and the mother car;

[0005] The mother car and the child car are connected through a pull wire encoder. The bottom of the mother car is provided with a mother car driving wheel, which is driven by a mother car driving motor. The middle of the child car is provided with an electrical warehouse I. Two groups of lifting motors in the electrical warehouse I drive the lifting mechanisms arranged on both sides of the electrical warehouse. The action of the lifting mechanism makes the child car separate or lap on the mother car. The bottom of the electrical warehouse I is provided with a child car driving wheel, which is driven by a child car driving motor arranged in the electrical warehouse I, for separating the child car from the child car accommodating groove and the mother car.

[0006] The pull wire encoder, the mother car driving motor, the child car driving motor and the two groups of lifting motors are connected with the main control system on the mother car. The displacement information of the pull wire encoder is transmitted to the main control system. The main control system is used to drive the mother car driving motor, the child car driving motor and the two groups of lifting motors. The main control system is connected with the communication module. The main control system transmits the displacement information to the remote end through the communication module. The pull wire encoder, the mother car driving motor, the child car driving motor, the lifting motor and the main control system are electrically connected with the power supply on the mother car.

[0007] The middle of the mother vehicle is provided with an electrical bin II, which is provided with a main control system, a communication module and a power supply; two groups of sub-vehicle lapping blocks I are symmetrically arranged on the inner side wall of the mother vehicle along the electrical bin II, the side wall of the electrical bin II is provided with a sub-vehicle lapping block II, and the jacking mechanism of the sub-vehicle is lapped on the sub-vehicle lapping block I and the sub-vehicle lapping block II; the side wall of the electrical bin II is further provided with a sub-vehicle guide block.

[0008] The mother vehicle is further provided with a starting button and a power display screen, and the starting button and the power display screen are connected with the main control system.

[0009] The mother vehicle is further provided with four universal wheels; and the bottom of each jacking mechanism is provided with a directional wheel.

[0010] The jacking mechanism is a scissors type jacking structure, and comprises a jacking plate, four supporting arms, a push rod, a screw rod assembly and a fixed plate; each two supporting arms are cross-hinged to form a supporting arm frame, the outer supporting arms and the inner supporting arms of the two supporting arm frames are connected by supporting rods, the top of the two supporting arm frames is provided with the jacking plate, and the bottom is fixed on the fixed plate; the jacking plate is lapped on the sub-vehicle lapping block I and the sub-vehicle lapping block II; the fixed plate is fixedly connected with the screw rod assembly, one end of the push rod is fixedly connected with the supporting rod between the inner supporting arms of the two supporting arm frames, the other end is rotatably connected with the sliding block of the screw rod assembly, one end of the screw rod of the screw rod assembly is provided with a chain wheel I, the output shaft of the jacking motor is provided with a chain wheel II, and the chain wheels I and II are provided with a chain.

[0011] The top of the mother vehicle is provided with an aircraft lapping position on both sides.

[0012] The utility model discloses the beneficial effect is:

[0013] 1, the utility model discloses the cooperation of sub -vehicle and mother vehicle completes the carrying work of aircraft, when working, main control system drives jacking motor to work, makes jacking mechanism separate from mother vehicle, and according to the displacement information of the line encoder, adjusts jacking mechanism to the appropriate height, then main control system drives sub -vehicle drive wheel and makes sub -vehicle leave mother vehicle to carry aircraft, and sub -vehicle enters the bottom of aircraft and jacking mechanism supports on aircraft, and main control system drives jacking motor and makes jacking mechanism rise and regularly fixes aircraft, then main control system drives mother vehicle drive motor and makes mother vehicle drive wheel drive mother vehicle to adhere to sub -vehicle, at this moment, main control system drives jacking motor and makes jacking mechanism drop and lap on mother vehicle, simultaneously, aircraft laps on mother vehicle, carries aircraft to the specified position, through the mutual cooperation of sub -vehicle and mother vehicle, makes aircraft carrying convenient, improves the carrying efficiency, and simultaneously, the separation or lapping of sub -vehicle and mother vehicle is realized by the independent lifting of the jacking mechanism of sub -vehicle, and this setting reduces the setting of the number of motors on mother vehicle, the utility model discloses, simple structure, convenient operation, saves the manual work, is very suitable for the transfer of vertical take -off unmanned aerial vehicle. DRAWINGS

[0014] Figure 1The overall structure schematic diagram of the AGV trolley of the utility model;

[0015] Figure 2 The structure schematic diagram of the sub-trolley and the mother trolley separation of the AGV trolley of the utility model;

[0016] Figure 3 The structure schematic diagram of the mother trolley of the AGV trolley of the utility model;

[0017] Figure 4 The bottom view schematic diagram of the mother trolley of the AGV trolley of the utility model;

[0018] Figure 5 The structure schematic diagram of the sub-trolley of the AGV trolley of the utility model;

[0019] Figure 6 The bottom view schematic diagram of the sub-trolley of the AGV trolley of the utility model;

[0020] In the drawing: 1, the mother trolley;101, the mother trolley drive wheel;102, the mother trolley drive motor;103, the electric appliance bin II;104, the sub-trolley lap joint block I;105, the sub-trolley lap joint block II;106, the sub-trolley guide block;107, the universal wheel;108, the start button;109, the electric quantity display screen;110, the aircraft lap joint position;2, the sub-trolley;201, the electric appliance bin I;202, the jacking mechanism;2021, the jacking plate;2022, the support arm;2023, the push rod;2024, the screw assembly;2025, the fixed plate;2026, the support rod;2027, the sliding block;2028, the screw;203, the sub-trolley drive wheel;204, the directional wheel;3, the sub-trolley containing groove. Specific implementation

[0021] The utility model will be described in detail in combination with the drawings.

[0022] As Figures 1-6 Indicated, a vertical unmanned plane transfer AGV trolley, including sub-trolley 2 and mother trolley 1, the mother trolley 1 is set up with sub-trolley 2 corresponding sub-trolley containing groove 3, does not use or carry the aircraft, and sub-trolley 2 is placed in sub-trolley containing groove 3, and lap joint is in mother trolley 1, when carrying the aircraft, sub-trolley 2 leaves sub-trolley containing groove 3, and separates with mother trolley 1;

[0023] The mother vehicle 1 is connected with the child vehicle 2 through a pull cable encoder, the bottom of the mother vehicle 1 is provided with a mother vehicle driving wheel 101, the mother vehicle driving wheel 101 is driven by a mother vehicle driving motor 102; the middle of the child vehicle 2 is provided with an electric appliance bin 201, two groups of lifting motors in the electric appliance bin 201 drive lifting mechanisms 202 arranged on both sides of the electric appliance bin respectively, the lifting mechanisms 202 act to make the child vehicle 2 separate from or overlap on the mother vehicle 1, the bottom of the electric appliance bin 201 is provided with a child vehicle driving wheel 203, the child vehicle driving wheel 203 is driven by a child vehicle driving motor arranged in the electric appliance bin 201, and is used for separating the child vehicle 2 from the child vehicle accommodating groove 3 and the mother vehicle 1;

[0024] The pull cable encoder, the mother vehicle driving motor 102, the child vehicle driving motor and the two groups of lifting motors are connected with a master control system on the mother vehicle 1, displacement information of the pull cable encoder is transmitted to the master control system, the master control system is used for driving the mother vehicle driving motor 102, the child vehicle driving motor and the two groups of lifting motors to act, the master control system is connected with a communication module, the master control system transmits the displacement information to a remote control end through the communication module, and the pull cable encoder, the mother vehicle driving motor 102, the child vehicle driving motor, the lifting motor and the master control system are electrically connected with a power supply on the mother vehicle.

[0025] When the child vehicle needs to carry an airplane, the remote control end transmits to the master control system through the communication module, the master control system makes the lifting motor work, the lifting mechanism 202 rises, at this time, the child vehicle 2 separates from the mother vehicle 1, the displacement information of the pull cable encoder is transmitted to the master control system, the master control system controls the lifting mechanism 202 to rise, at the same time, the master control system makes the child vehicle driving motor work, drives the child vehicle 2 to the airplane, the child vehicle 2 extends into the bottom of the airplane, the lifting mechanism 202 supports the airplane, then, the master control system makes the lifting mechanism 202 rise, lifts the airplane, the mother vehicle driving motor 102 works, and is combined with the child vehicle 2, at this time, the master control system drives the lifting motor to make the lifting mechanism 202 descend, the airplane falls on the mother vehicle 1, at the same time, the child vehicle 2 overlaps on the mother vehicle 1, then carries the airplane to a designated position.

[0026] The mother vehicle 1 is also provided with four universal wheels 107, specifically, two universal wheels 107 are arranged at the middle position of the front end of the mother vehicle 1, and the other two universal wheels 107 are arranged at the rear of the mother vehicle driving wheel 101 respectively, and the universal wheels 107 are used for assisting the mother vehicle driving wheel 101 to adjust the direction.

[0027] The bottom of each lifting mechanism 202 is respectively provided with a directional wheel 204, which is used for driving the child vehicle 2 to move together with the child vehicle driving wheel, and is responsible for supporting the child vehicle 2 body, and plays a role of bearing.

[0028] In this embodiment, the size of the mother car 1 is 2.2m long, 2m wide, and 0.36m high; the differential wheel system is used for the drive wheels of the child car and the mother car 1; the four universal wheels 107 on the mother car 1 assist in supporting the car body, and the AGV can realize the actions of advancing, retreating, spinning in place, turning left and right, etc.; the power supply of the AGV is a 48V battery pack, and the required power supply for the mother car drive motor 102, the child car drive motor, and the jacking motor is low voltage, so the power supply of the AGV uses a DC-DC converter to convert the 48V power supply into 5V, 12V, and 24V.

[0029] The middle of the mother car 1 is provided with an electrical bin II 103, which is provided with a main control system, a communication module, and a power supply; two groups of child car lapping blocks I 104 are symmetrically provided on the inner side wall of the mother car 1 along the electrical bin II 103, and the electrical bin II 103 is provided with child car lapping blocks II 105 on the side wall; the jacking mechanism 202 of the child car 2 is lapped on the child car lapping blocks I 104 and the child car lapping blocks II 105; the side wall of the electrical bin II 103 is also provided with a child car guide block 106, which is used for positioning when the child car 2 is attached to the mother car 1.

[0030] In this embodiment, the child car lapping blocks I 104 and the child car lapping blocks II 105 are polyurethane pads, which have good friction and damping effect when supporting the child car 2, reducing the bumping of the child car during the movement of the car body, and avoiding displacement of the child car 2 on the mother car 1 due to turning, parking, etc.; the child car guide block 106 is made of nylon block, and the guide angle is processed in the movement direction, so that the child car 2 is guided when entering the mother car 1.

[0031] The mother car 1 is also provided with a start button 108 and a power display screen 109, and the start button 108 and the power display screen 109 are connected with the main control system, so that the power condition of the mother car can be easily observed through the power display screen 109.

[0032] The jacking mechanism 202 is a scissors jacking structure, and the jacking mechanism 202 comprises a jacking plate 2021, four supporting arms 2022, a push rod 2023, a screw assembly 2024 and a fixed plate 2025; each two supporting arms 2022 are cross-hinged to form a supporting arm frame, the outer supporting arms 2022 and the inner supporting arms 2022 of the two supporting arm frames are connected by a supporting rod 2026, the top of the two supporting arm frames is provided with the jacking plate 2021, the bottom of the two supporting arm frames is fixed on the fixed plate 2025, and the jacking plate 2021 is overlapped on the sub-car overlapping block I 104 and the sub-car overlapping block II 105; the fixed plate 2025 is fixedly connected with the screw assembly 2024, one end of the push rod 2023 is fixedly connected on the supporting rod 2026 between the inner supporting arms 2022 of the two supporting arm frames, the other end of the push rod 2023 is rotatably connected on a sliding block 2027 of the screw assembly 2024, and one end of a screw rod 2028 of the screw assembly 2024 is provided with a sprocket I, a sprocket II is arranged on an output shaft of a jacking motor, and the sprocket I and the sprocket II are provided with a chain; in use, the jacking mechanism 202 of the present application is driven to rotate by the sprocket II of the jacking motor, the sprocket II drives the sprocket I to rotate through the chain, so as to drive the screw rod 2028 to rotate, at this time, the sliding block 2027 slides on the screw rod 2028 to drive the push rod 2023 to ascend and descend, so as to realize the ascending and descending of the jacking plate 2021, and further realize the separation of the sub-car 2 and the mother car 1, that is, the sub-car 2 can realize the separation from the mother car 1 independently, and the mother car 1 does not need to provide any assistance.

[0033] The top of the mother car 1 is provided with an aircraft overlapping position 110 on both sides, for conveniently placing the aircraft supporting legs.

[0034] In the working process of the present application, the initial state is that the sub-car 2 is overlapped on the mother car 1, when working, the remote control end drives the jacking motor to work through the main control system, the jacking motor drives the sprocket II to rotate, the sprocket I is driven to rotate through the chain, so as to be converted into the linear motion of the screw rod 2028, the sliding block 2027 slides on the screw rod 2028, the push rod 2023 connected with the sliding block 2027 drives the supporting arm 2022 to ascend, and further drives the jacking plate 2021 to ascend, the displacement information of the wire encoder is transmitted to the main control system, the main control system judges whether the ascending height is reached, and the jacking motor stops working, at this time, the sub-car 2 is separated from the mother car 1, and the main control system drives the sub-car driving motor to work, so as to drive the sub-car 2 to move to the aircraft, the sub-car 2 extends into the lower part of the aircraft and supports the aircraft through the jacking mechanism 202, then the main control system controls the jacking mechanism 202 to ascend and lift the aircraft, then the main control system drives the mother car driving motor 102 to work, the mother car 1 moves to the sub-car 2 and is attached, the main control system drives the jacking motor to work, the jacking mechanism 202 descends, the jacking plate 2021 is overlapped on the sub-car overlapping block I 104 and the sub-car overlapping block II 105, the overlapping of the sub-car 2 and the mother car 1 is completed, the aircraft supporting legs fall on the aircraft overlapping position 110 of the mother car 1, and the mother car 1 drives the aircraft to move to the parking place.

Claims

1. A vertical take-off drone transfer (AGV) trolley, characterized in that, The mother vehicle is provided with a corresponding sub-vehicle accommodating groove, and the sub-vehicle is accommodated in the sub-vehicle accommodating groove and is lapped on the mother vehicle when not in use or carrying an airplane, and the sub-vehicle is separated from the mother vehicle when carrying an airplane; The mother vehicle and the sub-vehicle are connected through a pull-wire encoder, the bottom of the mother vehicle is provided with a mother vehicle driving wheel, and the mother vehicle driving wheel is driven by a mother vehicle driving motor; the middle of the sub-vehicle is provided with an electric appliance bin I, two groups of jacking motors in the electric appliance bin I drive two jacking mechanisms arranged on the two sides of the electric appliance bin, the jacking mechanisms act to separate or lap the sub-vehicle on the mother vehicle, the bottom of the electric appliance bin I is provided with a sub-vehicle driving wheel, and the sub-vehicle driving wheel is driven by a sub-vehicle driving motor arranged in the electric appliance bin I and is used for separating the sub-vehicle from the sub-vehicle accommodating groove and the mother vehicle; The pull-wire encoder, the mother vehicle driving motor, the sub-vehicle driving motor and the two groups of jacking motors are connected with a master control system on the mother vehicle, displacement information of the pull-wire encoder is transmitted to the master control system, the master control system is used for driving the mother vehicle driving motor, the sub-vehicle driving motor and the two groups of jacking motors to act, the master control system is connected with a communication module, the master control system transmits the displacement information to a remote control end through the communication module, and the pull-wire encoder, the mother vehicle driving motor, the sub-vehicle driving motor, the jacking motors and the master control system are electrically connected with a power supply on the mother vehicle.

2. The vertical take-off UAV transfer AGV trolley according to claim 1, characterized in that, The middle of the mother vehicle is provided with an electric appliance bin II, the electric appliance bin II is provided with a master control system, a communication module and a power supply; two groups of sub-vehicle lapping blocks I are symmetrically arranged on the inner side wall of the mother vehicle along the electric appliance bin II, a sub-vehicle lapping block II is arranged on the side wall of the electric appliance bin II, the jacking mechanism of the sub-vehicle is lapped on the sub-vehicle lapping block I and the sub-vehicle lapping block II, and a sub-vehicle guide block is further arranged on the side wall of the electric appliance bin II.

3. The vertical take-off UAV transfer AGV trolley according to claim 1, characterized in that, The mother vehicle is further provided with a starting button and a power display screen, and the starting button and the power display screen are connected with the master control system.

4. The vertical take-off UAV transfer AGV trolley according to claim 1, characterized in that, The mother vehicle is further provided with four universal wheels; and each jacking mechanism is provided with a directional wheel at the bottom.

5. The vertical take-off UAV transfer AGV trolley according to claim 2, characterized in that, The jacking mechanism is a shearing type jacking structure, and the jacking mechanism comprises a jacking plate, four supporting arms, a push rod, a screw rod assembly and a fixed plate; each two supporting arms are cross-hinged to form a supporting arm frame, the outer supporting arms and the inner supporting arms of the two supporting arm frames are connected through supporting rods, the top of the two supporting arm frames is provided with the jacking plate, and the bottom is fixed on the fixed plate; the jacking plate is lapped on the sub-vehicle lapping block I and the sub-vehicle lapping block II; the fixed plate is fixedly connected with the screw rod assembly, one end of the push rod is fixedly connected on the supporting rod between the inner supporting arms of the two supporting arm frames, the other end is rotatably connected on the sliding block of the screw rod assembly, one end of the screw rod of the screw rod assembly is provided with a chain wheel I, the output shaft of the jacking motor is provided with a chain wheel II, and the chain wheels I and II are provided with a chain.

6. The vertical take-off UAV transfer AGV cart of claim 1, wherein, The top of the mother vehicle is provided with two airplane lapping positions.

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