Positioning type AGV

Abstract

The utility model discloses a positioning type AGV (Automatic Guided Vehicle), and relates to the technical field of logistics automation, Mecanum wheels are arranged at the bottom of a vehicle body, a lifting frame is arranged in the vehicle body, lifting mechanisms are arranged on two sides of the vehicle body, the lifting mechanisms are connected with the lifting frame, each lifting mechanism comprises a lifting oil cylinder, and the lifting oil cylinders are connected with the lifting frame. The lifting oil cylinders are fixed to the two sides of the vehicle body, a first guide wheel and a second guide wheel are arranged on the vehicle body, the driving ends of the lifting oil cylinders are connected with steel wire ropes, the lifting frame ascends and descends through the lifting oil cylinders, limiting is conducted through the left guide wheel during ascending, and position deviation is prevented. During descending, the position can be adjusted according to requirements through a gap between the right guide wheel and the lifting frame, a motor drives a first gear and a second gear to move synchronously, so that the base plate rotates, and after the position is determined, a positioning hole in the base plate can be inserted into a positioning pin for fixing.

Description

TECHNICAL FIELD

[0001] The utility model relates to logistics automation technical field, concretely is a kind of positioning AGV. BACKGROUND

[0002] AGV obtains the coordinate information of the ground opposite the two-dimensional code by reading the two-dimensional code of ground, AGV reads and identifies two-dimensional code by its high-resolution long-focus camera, while through the rotation of two-dimensional code image in camera coordinate, fusion with electronic compass data, the accurate orientation of AGV can be determined. Comprehensive two-dimensional code encoding information and its position information in image, the complete positioning of AGV trolley can be carried out. Similarly, AGV reads the two-dimensional code on the goods to obtain the positional relationship between AGV and goods.

[0003] But in the working process of AGV, preset position and AGV actual arrival position often have deviation, leading to the inaccuracy of workpiece position in transportation or taking and placing, so it is particularly important to set a kind of AGV that can adjust position in the working process. UTILITY MODEL CONTENTS

[0004] In view of the deficiencies of the prior art, the utility model provides a kind of positioning AGV, solves the problem of poor accuracy of existing device.

[0005] In order to achieve the above object, the utility model discloses a positioning formula AGV car through the following technical schemes to be realized: a positioning formula AGV car, including the car body, the car body bottom is equipped with the Mecanum wheel, the car body is equipped with the lifting frame in, the car body both sides are installed with the pull mechanism, the pull mechanism with lifting frame is connected, the pull mechanism includes pull cylinder, pull cylinder is fixed in the car body both sides, the car body is equipped with first guide wheel and second guide wheel, the pull cylinder drive end is connected with the steel wire rope, one end of steel wire rope is in proper order with first guide wheel with second guide wheel is equipped with, lifting frame bottom is equipped with the lifting ring, the other end of steel wire rope with lifting ring fixed connection, the lifting frame is equipped with the positioning pin, the lifting frame is equipped with the rotary drive part, the rotary drive part includes motor, the motor is equipped with the first pulley on the drive end, the first pulley is equipped with the base plate, the car body bottom is equipped with the base, the base is equipped with the second pulley, the first pulley with second pulley is equipped with the belt between, the second pulley is fixedly connected with the limiting post, the limiting post has the recess in, the lifting frame is equipped with the first gear, the first gear is fixed in the lifting frame upper end, the lifting frame side wall is equipped with the second gear, the first gear with second gear is engaged, the second gear below is equipped with the limiting block, the limiting block can be embedded in the recess, the base plate is equipped with the positioning hole, the positioning pin can be embedded in the positioning hole, the car body inner side wall is equipped with the guide mounting plate, the guide mounting plate is equipped with a plurality of left guide wheel support and right guide wheel support, the left guide wheel support is equipped with the left guide wheel, the right guide wheel support is equipped with the right guide wheel, the left guide wheel with the lifting frame one side between surface contact, the right guide wheel with the lifting frame the other side has the gap.

[0006] Preferably, the Mecanum wheel is internally mounted with a speed reducer, the car body is provided with a first motor, the drive end of the first motor is connected with the Mecanum wheel, and the first motor penetrates a damping part.

[0007] Preferably, the damping part includes a mounting plate, the mounting plate is installed above the first motor, damping blocks are installed on both sides of the mounting plate, a damping column is arranged in the damping block, a disc spring is sleeved outside the damping column, a fixed block is installed below the damping column, and the fixed block is installed on the car body.

[0008] Preferably, the car body is internally provided with a battery.

[0009] Preferably, the motor is externally sleeved with a protective shell, and the protective shell is fixed to the ground.

[0010] Preferably, the number of positioning pins is four. Beneficial effects

[0011] The utility model provides a positioning formula AGV car has the following beneficial effect: the utility model simple structure, convenient to use, through the lifting oil jar makes the lifting frame to rise and fall, rises through left guide wheel and prevents position to shift, can adjust position according to the demand through the gap between right guide wheel and lifting frame, through the synchronous movement of motor drive first gear and second gear, thereby makes the substrate to rotate, after determining the position, can insert the positioning hole on the substrate on the positioning pin and fix, also guarantee the flatness of substrate simultaneously, through damping component guarantees the vehicle body to drive gently, thereby improved work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is the structure schematic drawing of the utility model.

[0013] Figure 2 It is the structure schematic drawing of the utility model.

[0014] Figure 3 It is the plan view of the utility model.

[0015] Figure 4 It is the structure schematic drawing of the utility model lifting oil jar.

[0016] Figure 5 It is the structure schematic drawing of the utility model guide mounting plate.

[0017] Figure 6 It is the structure schematic drawing of the utility model Mecanum wheel.

[0018] Figure 7 It is the structure schematic drawing of the utility model Mecanum wheel.

[0019] Figure 8 It is the sectional view of the utility model Mecanum wheel.

[0020] Figure 9 It is the sectional view of the utility model Mecanum wheel.

[0021] In the drawing: 1, vehicle body;2, Mecanum wheel;3, lifting frame;4, base plate;5, lifting oil jar;6, first guide wheel;7, second guide wheel;8, wire rope;9, lifting ring;10, positioning pin;11, base;12, motor;13, first runner;14, second runner;15, belt;16, limit post;17, left guide wheel support;18, first gear;19, second gear;20, limit block;21, guide mounting plate;22, right guide wheel support;23, left guide wheel;24, speed reducer;25, first motor;26, mounting plate;27, damping block;28, damping column;29, disc spring;30, fixed block;31, battery;32, protection shell;33, right guide wheel. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0023] Please refer to Figures 1-8The utility model provides a kind of technical scheme: a positioning type AGV car, including car body 1, the car body 1 bottom is equipped with Mecanum wheel 2, the car body 1 is equipped with lifting frame 3, the car body 1 both sides are equipped with pull mechanism, the pull mechanism is connected with the lifting frame 3, the pull mechanism includes pull cylinder 5, the pull cylinder 5 is fixed in car body 1 both sides, the car body 1 is equipped with first guide wheel 6 and second guide wheel 7, the pull cylinder 5 drive end is connected with steel wire rope 8, one end of the steel wire rope 8 is sequentially set on the first guide wheel 6 and the second guide wheel 7, the lifting frame 3 bottom is equipped with lifting ring 9, the other end of the steel wire rope 8 is fixedly connected with the lifting ring 9, the lifting frame 3 is equipped with positioning pin 10, the lifting frame 3 is equipped with rotary drive component, the rotary drive component includes motor 12, the motor 12 is equipped with first pulley 13 on drive end, the first pulley 13 is equipped with base plate 4, the car body 1 bottom is equipped with base 11, the base 11 is equipped with second pulley 14, the first pulley 13 and the second pulley 14 are equipped with belt 15, the second pulley 14 is fixedly connected with limit post 16, the limit post 16 has recess, the lifting frame 3 is equipped with first gear 18, the first gear 18 is fixed on the lifting frame 3 upper end, the lifting frame 3 side wall is equipped with second gear 19, the first gear 18 is engaged with the second gear 19, the second gear 19 below is equipped with limit block 20, the limit block 20 can be embedded in the recess, the base plate 4 is equipped with positioning hole, the positioning pin 10 can be embedded in positioning hole, the car body 1 inner side wall is equipped with guide mounting plate 21, the guide mounting plate 21 is equipped with a plurality of left guide wheel 23 support 17 and right guide wheel 33 support 22, the left guide wheel 23 support 17 is equipped with left guide wheel 23, the right guide wheel 33 support 22 is equipped with right guide wheel 33, the left guide wheel 23 and one side between the lifting frame 3 surface contact, the right guide wheel 33 and the other side between the lifting frame 3 have gap;The Mecanum wheel 2 is installed with speed reducer 24 inside, the car body 1 is equipped with first motor 25, the first motor 25 drive end is connected with the Mecanum wheel 2, the first motor 25 is penetrated with damping component;The damping component includes mounting plate 26, the mounting plate 26 is installed on the first motor 12 top, the mounting plate 26 both sides are equipped with damping block 27, the damping block 27 is equipped with damping column 28, the damping column 28 is externally equipped with disc spring 29, the damping column 28 below is equipped with fixed block 30, the fixed block 30 is installed on the car body 1;The car body 1 is equipped with battery 31;The motor 12 is externally equipped with protective shell 32, the protective shell 32 is fixed on ground, the number of positioning pin is 4.

[0024] Through the skilled in the art, the parts in the case are connected in turn, the specific connection and the operation order should refer to the following working principle, its detailed connecting means is the public known technology in the art, the following mainly introduces the working principle and process.

[0025] When using, first, the battery 31 is powered on, the steel wire rope 8 is made to slide on the first guide wheel 6 and the second guide wheel 7 through the lifting oil cylinder 5, so as to drive the lifting frame 3 to move up and down, and then the height used is adjusted, when the lifting frame 3 is in the rising state, there is no gap between the left guide wheel 23 and the lifting frame 3, the lifting frame 3 is limited through the left guide wheel 23, and the shaking when walking is prevented, when the lifting frame 3 is lowered, the right guide wheel 33 has a gap with the lifting frame 3, so as to avoid a certain space for guiding, and then the position can be freely determined when descending, when the rotating function is realized, the vehicle body 1 is moved to the position of the base 11, the limiting block 20 is embedded into the groove of the limiting column 16, the motor 12 is started, the belt 15 drives the first rotating wheel 13 and the second rotating wheel 14 to rotate synchronously, so as to drive the first gear 18 to rotate through the second gear 19, and then the base plate 4 is rotated, when the lifting and rotation are finished, the positioning pin 10 below the vehicle body 1 is inserted into the positioning hole on the base plate 4, the position is determined and the base plate 4 is ensured to return to 0 degree, the overall flatness of the vehicle body 1 is maintained, the reduction machine 24 is arranged in the Mecanum wheel 2, the hub of the Mecanum wheel 2 replaces the shell of the RV reduction machine 24, so as to reduce the manufacturing cost, improve the overall strength, and save the space, the damping block 27 makes the vehicle body 1 run stably in the working process.

[0026] It should be noted that, in this text, relational terms such as first and second and the like can merely be used to distinguish one entity or action from another, without necessarily requiring or implying that there is any such actual relationship or order between or among the entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, the statement "comprises... limited element" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the stated element.

[0027] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A positioning AGV vehicle, comprising a vehicle body (1), characterized in that, The bottom of the vehicle body (1) is provided with Mecanum wheels (2), and a lifting frame (3) is provided inside the vehicle body (1). Lifting mechanisms are installed on both sides of the vehicle body (1), and the lifting mechanisms are connected to the lifting frame (3). The lifting mechanism includes a lifting cylinder (5), which is fixed on both sides of the vehicle body (1). The vehicle body (1) is provided with a first guide wheel (6) and a second guide wheel (7). The driving end of the lifting cylinder (5) is connected to a steel wire rope (8), and one end of the steel wire rope (8) is sequentially sleeved on the first guide wheel (6) and the second guide wheel. (7) The bottom of the lifting frame (3) is provided with a lifting ring (9), and the other end of the wire rope (8) is fixedly connected to the lifting ring (9). The lifting frame (3) is provided with a positioning pin (10). The lifting frame (3) is provided with a rotary drive component, which includes a motor (12). The motor (12) has a first rotating wheel (13) on its drive end. The first rotating wheel (13) has a base plate (4). The bottom of the vehicle body (1) is provided with a base (11). The base (11) has a second rotating wheel (14). The first rotating wheel (13) A belt (15) is provided between the second rotating wheel (14) and the second rotating wheel (14). A limiting post (16) is fixedly connected to the second rotating wheel (14). The limiting post (16) has a groove. A first gear (18) is provided on the lifting frame (3). The first gear (18) is fixed to the upper end of the lifting frame (3). A second gear (19) is provided on the side wall of the lifting frame (3). The first gear (18) meshes with the second gear (19). A limiting block (20) is provided below the second gear (19). The limiting block (20) can be embedded in the groove. The base plate (4) is provided with positioning holes, and the positioning pin (10) can be embedded in the positioning holes. The inner side wall of the vehicle body (1) is provided with a guide mounting plate (21). The guide mounting plate (21) is provided with several left guide wheel brackets (17) and right guide wheel brackets (22). The left guide wheel bracket (17) is provided with a left guide wheel (23), and the right guide wheel bracket (22) is provided with a right guide wheel (33). The left guide wheel (23) is in surface contact with one side of the lifting frame (3), and there is a gap between the right guide wheel (33) and the other side of the lifting frame (3).

2. The positioning AGV vehicle according to claim 1, characterized in that, The Mecanum wheel (2) is equipped with a speed reducer (24), and the vehicle body (1) is provided with a first motor (25). The drive end of the first motor (25) is connected to the Mecanum wheel (2), and the first motor (25) is permeated by a shock-absorbing component.

3. A positioning AGV vehicle according to claim 2, characterized in that, The shock-absorbing component includes a mounting plate (26), which is mounted above the first motor (25). Shock-absorbing blocks (27) are mounted on both sides of the mounting plate (26). A shock-absorbing column (28) is provided inside the shock-absorbing block (27). A disc spring (29) is sleeved on the outside of the shock-absorbing column (28). A fixing block (30) is installed below the shock-absorbing column (28). The fixing block (30) is mounted on the vehicle body (1).

4. A positioning AGV vehicle according to claim 1, characterized in that, The vehicle body (1) contains a battery (31).

5. A positioning AGV vehicle according to claim 1, characterized in that, The motor (12) is covered with a protective shell (32), which is fixed to the ground.

6. A positioning AGV vehicle according to claim 1, characterized in that, The number of the positioning pins (10) is 4.

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