A highly modular latent automated guided vehicle

Abstract

A kind of high modularization submerged automatic carrier relates to AGV technical field, including top plate and chassis body, the chassis body includes chassis bottom plate and the surrounding board around it, the top plate is located at the top of surrounding board, the top surface of chassis bottom plate is fixed with electric control board and battery assembly, the bottom surface four corners are respectively fixed with universal wheel assembly, two universal wheel assemblies between front and back are respectively fixed with drive wheel assembly, the recess of lateral penetration is respectively arranged in the front and back sides of surrounding board, laser radar is fixed in the middle of recess, recess middle recesses least, gradually increases towards two sides recess degree and presents V-shaped trend, at least one recess above the middle of surrounding board is provided with visual obstacle avoidance camera.The automatic carrier of the utility model adopts modularization design, each functional component can be independently, synchronously assembled, multi-scene adaptation, can realize standard version submerged jacking car, install vertical pole touch screen component, submerged carrying car three configurations, can satisfy different needs from full automation to man-machine hybrid scene.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a highly modular, stealthy automated guided vehicle. Background Technology

[0002] Automated Guided Vehicles (AGVs), also known as automated guided vehicles or automated guided transport vehicles, are industrial vehicles that load goods automatically or manually, automatically travel along a set route or tow a cargo trolley to a designated location, and then load and unload goods automatically or manually.

[0003] The existing problems with automated guided vehicles (AGVs) are: 1. Limited functional configuration: Traditional AGVs are mostly fixed configurations, unable to be flexibly adjusted according to the degree of automation, lacking modular expansion capabilities, and difficult to adapt to different scenarios with high automation and human-machine integration; 2. Traditional monolithic structure leads to complex assembly processes, and fixed functions make it difficult to quickly respond to special working conditions; 3. Non-modular design makes fault diagnosis difficult, requiring the entire machine to be shut down and the entire structure to be dismantled when maintaining / replacing core components, resulting in long maintenance cycles and high maintenance costs. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a highly modular, concealed automated guided vehicle that is adaptable to multiple scenarios. It can be configured as a standard concealed lifting vehicle, a vehicle with added pole touch screen components, and a concealed carrying vehicle. It can meet different needs from fully automated to human-machine hybrid scenarios. The modular design allows each functional component to be assembled independently and synchronously, which facilitates standardized management of production assembly, greatly shortens the production assembly cycle, and improves overall efficiency.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: A highly modular, concealed automated guided vehicle (AGV) includes a top plate and a chassis body. The chassis body includes a chassis base plate and surrounding panels. The top plate is located on top of the panels. An electronic control board and battery assembly are fixed to the top surface of the chassis base plate. Universal wheel assemblies are fixed to the four corners of the bottom surface, and drive wheel assemblies are fixed between the front and rear universal wheel assemblies. The electronic control board and battery assembly include an electronic control board assembly and a battery. The outline of the top plate matches the outline formed by the panels. The top plate, panels, and chassis base plate form a cavity, within which the electronic control board assembly, battery, and other structures are located. Laterally penetrating grooves are provided on the front and rear sides of the panels. A lidar is fixed in the center of each groove. The groove has the least concavity in the center, gradually increasing in depth towards the sides in a V-shape. A visual obstacle avoidance camera is located in the center of the panel above one of the grooves. The shape of the groove allows the lidar to have a larger scanning angle, eliminating blind spots caused by vehicle obstruction and improving obstacle avoidance performance.

[0006] The drive wheel assembly includes a drive wheel, a floating suspension bracket, a drive wheel mounting plate, guide shafts, linear bearings, and compression springs. The floating suspension bracket is fixedly connected to the chassis base plate. Two guide shafts are vertically arranged and fixedly connected to the floating suspension bracket at both ends. Two linear bearings and two compression springs are each mounted on the guide shafts. The drive wheel mounting plate is fixedly connected to two linear bearings at each end. The lower end of the compression spring abuts against the drive wheel mounting plate, and the upper end abuts against the top of the floating suspension bracket. The axle of the drive wheel is connected to the middle of the drive wheel mounting plate. The drive wheel assembly features a modular design, allowing for the selection of drive wheels with different power ratings to suit different loads.

[0007] Preferably, the enclosure is equipped with a start button, a lower emergency stop button, a lower touchscreen, a debugging network port, and a charging port. Multiple lower emergency stop buttons can be provided, located on different surfaces of the enclosure.

[0008] Preferably, there are two charging ports: a manual charging port and an automatic charging port, to meet different charging needs.

[0009] Preferably, the automatic charging port is a brush plate assembly, including a brush plate insulating base. The insulating base is flat, with two vertically distributed brush plate copper strips fixed to its front side. Electrode terminals are fixed to the rear side of the brush plate copper strips. A charging detection photoelectric sensor is fixedly installed on the insulating base between the two brush plate copper strips. The electrode terminals are electrically connected to the battery via cables, etc. When charging is required, the vehicle approaches the charging station, and the brush plate copper strips on the vehicle approach the copper brush block on the charging station. Charging begins upon contact. After charging is complete, the vehicle leaves, the brush plate copper strips separate from the copper brush block, and charging is discontinued. The charging detection photoelectric sensor is used for vehicle arrival detection.

[0010] Preferably, status indicator lights are provided at the four corners of the enclosure to provide visual feedback on the AGV's operating status. Different colored lights display the AGV's current movement status, and the lights also provide safety obstacle avoidance warnings. Several voice broadcast modules are installed inside the enclosure. These modules can be fixed to the top surface of the structure containing the recess, and can be used for real-time operation status reporting, safety warnings, and human-machine interaction assistance.

[0011] Preferably, the chassis base plate has a detachable battery compartment at the bottom, and the batteries of the electronic control board and battery pack are located in the detachable battery compartment, which can quickly and seamlessly swap batteries to achieve continuous operation, improve work efficiency and system flexibility.

[0012] Preferably, a certain number of support rods are fixed to the chassis base plate, with the upper ends of the support rods abutting against the top plate, or abutting against the top plate via gaskets. A certain number of reinforcing ribs distributed laterally and longitudinally are fixed to the bottom surface of the top plate. This is a standard concealed carrying vehicle without a lifting function, suitable for highly automated scenarios where lifting is not required, and offers a greater price advantage.

[0013] Preferably, a certain number of lifting electric cylinders are fixed on the chassis base plate, and corresponding lifting pads are fixed on the bottom surface of the top plate. The movable ends of the lifting electric cylinders are fixedly connected to the lifting pads, and a certain number of reinforcing ribs distributed laterally and longitudinally are fixed on the bottom surface of the top plate. This is a standard submersible lifting vehicle, suitable for scenarios with a high degree of automation and requiring lifting.

[0014] Preferably, the front top of the chassis body is provided with a pole assembly, which includes a pole and an upper touch screen on top of it. Adding the pole assembly and configuring a larger, appropriately sized touch screen makes human-machine interaction more convenient and suitable for mixed human-machine scenarios.

[0015] Preferably, the top of the upper touchscreen is provided with an emergency stop button and an antenna.

[0016] The advantages of this utility model are: 1. Multi-scenario adaptability: It can realize three configurations: standard submersible lifting vehicle, vehicle with added pole touch screen component, and submersible carrying vehicle, which can meet different needs from fully automated to human-machine hybrid scenarios; 2. Modular design: Each functional component can be assembled independently and synchronously, which facilitates standardized management of production assembly, greatly shortens the production assembly cycle, and improves overall efficiency; 3. Excellent chassis performance: It adopts a chassis with four corner driven universal wheels and dual drive wheels with floating suspension, which makes the vehicle more passable, more stable, and stronger in resisting load center of gravity offset; 4. Modular design makes fault diagnosis simple. Core components can be installed and removed separately when maintaining / replacing them, without the need to shut down the whole machine and dismantle the entire structure, resulting in a short maintenance cycle and low maintenance cost. Attached Figure Description

[0017] Figure 1 The three-dimensional representation of this utility model Figure 1 ; Figure 2 The three-dimensional representation of this utility model Figure 2 ; Figure 3 This is a perspective view of the top plate in this utility model; Figure 4 The three-dimensional chassis body of this utility model Figure 1 ; Figure 5 The three-dimensional chassis body of this utility model Figure 2 ; Figure 6 This is a side view of the chassis body in this utility model; Figure 7 This is a perspective view of the drive wheel assembly in this utility model; Figure 8 This is a side view of the drive wheel assembly in this utility model; Figure 9 for Figure 8 Sectional view along the middle AA direction; Figure 10 The three-dimensional automatic charging port in this utility model Figure 1 ; Figure 11 The three-dimensional automatic charging port in this utility model Figure 2 .

[0018] Explanation of key component symbols in the diagram: 10. Top plate; 11. Lifting pad; 12. Reinforcing ribs; 20. Chassis body; 21. Chassis floor plate; 22. Side panel; 22.1. Recess; 23. Electronic control board and battery assembly; 24. Visual obstacle avoidance camera; 25. Universal wheel assembly; 26. Drive wheel assembly; 26.1. Drive wheel; 26.2. Floating suspension bracket; 26.3. Drive wheel mounting plate; 26.4. Guide shaft; 26.5. Linear bearing; 26.6. Compression spring; 27. LiDAR; 28. Start button 29. Emergency Stop Button; 210. Lower Touchscreen; 211. Debugging Network Port; 212. Manual Charging Port; 213. Automatic Charging Port; 213.1. Brush Board Insulation Base; 213.2. Brush Board Copper Strip; 213.3. Electrode Terminal; 213.4. Charging Detection Photoelectric Device; 214. Status Indicator Light; 215. Voice Broadcast Module; 216. Removable Battery Compartment; 217. Support Rod; 218. Lifting Cylinder; 30. Pole assembly; 31. Pole; 32. Upper touch screen; 33. Upper emergency stop button; 34. Antenna. Detailed Implementation

[0019] To more clearly illustrate this utility model, the following description, in conjunction with the accompanying drawings, will provide further details.

[0020] Example 1: As Figure 1 As shown, a highly modular, concealed automated guided vehicle includes a top plate 10 and a chassis body 20.

[0021] Combination Figure 4-6 As shown, the chassis body 20 includes a chassis base plate 21 and surrounding panels 22. The top plate 10 is located on top of the surrounding panels 22. An electronic control board and a battery assembly 23 are fixed on the top surface of the chassis base plate 21. Universal wheel assemblies 25 are fixed at the four corners of the bottom surface. Drive wheel assemblies 26 are fixed between the front and rear universal wheel assemblies 25. The front and rear sides of the surrounding panels 22 are respectively provided with transverse through grooves 22.1. A lidar 27 is fixed in the middle of the grooves 22.1. The grooves 22.1 have the smallest indentation in the middle and gradually increase in indentation towards both sides in a V-shape. A visual obstacle avoidance camera 24 is provided in the middle of the surrounding panel 22 above one of the grooves 22.1.

[0022] Combination Figure 7-9 As shown, the drive wheel assembly 26 includes a drive wheel 26.1, a floating suspension bracket 26.2, a drive wheel mounting plate 26.3, a guide shaft 26.4, a linear bearing 26.5, and a compression spring 26.6. The floating suspension bracket 26.2 is fixedly connected to the chassis base plate 21. There are two guide shafts 26.4, which are vertically arranged and fixedly connected to the floating suspension bracket 26.2 at both ends. There are two linear bearings 26.5 and two compression springs 26.6, which are sleeved on the guide shafts 26.4. The two ends of the drive wheel mounting plate 26.3 are fixedly connected to the two linear bearings 26.5 respectively. The lower end of the compression spring 26.6 abuts against the drive wheel mounting plate 26.3, and the upper end abuts against the top of the floating suspension bracket 26.2. The axle of the drive wheel 26.1 is connected to the middle of the drive wheel mounting plate 26.3.

[0023] Example 2: Combination Figure 4-6 As shown, based on Embodiment 1, the enclosure 22 is provided with a start button 28, a lower emergency stop button 29, a lower touch screen 210, a debugging network port 211 and a charging port.

[0024] The number of charging ports is two, namely a manual charging port 212 and an automatic charging port 213.

[0025] Combination Figure 10-11 As shown, the automatic charging port 213 is a brush plate assembly, including a brush plate insulating seat 213.1. The brush plate insulating seat 213.1 is flat, with two brush plate copper strips 213.2 arranged vertically on the front side. An electrode terminal 213.3 is fixed on the rear side of the brush plate copper strips 213.2. A charging detection photoelectric sensor 213.4 is fixedly installed on the brush plate insulating seat 213.1 located between the two brush plate copper strips 213.2.

[0026] Example 3: Combination Figure 4-6 As shown, based on Embodiment 1 or Embodiment 2, status indicator lights 214 are respectively provided at the four corners of the enclosure 22, and several voice broadcast modules 215 are provided inside the enclosure 22.

[0027] The chassis base plate 21 has a detachable battery compartment 216 at its bottom, and the battery of the electronic control board and battery assembly 23 is located in the detachable battery compartment 216.

[0028] Example 4: Combination Figure 3-4 As shown, based on Embodiment 1, Embodiment 2 or Embodiment 3, a certain number of support rods 217 are fixed on the chassis base plate 21. The upper end of the support rod 217 abuts against the top plate 10, or abuts against the top plate 10 through a gasket. A certain number of reinforcing ribs 12 distributed horizontally and vertically are fixed on the bottom surface of the top plate 10.

[0029] The products in Examples 1, 2, 3, and 4 are ordinary concealed carrying vehicles without lifting function. They are suitable for highly automated scenarios where lifting is not required, and are more price-competitive.

[0030] Example 5: Combination Figure 3-4 As shown, the difference from Embodiment 4 is that a certain number of lifting electric cylinders 218 are fixed on the chassis base plate 21, a corresponding lifting pad 11 is fixed on the bottom surface of the top plate 10, the movable end of the lifting electric cylinder 218 is fixedly connected to the lifting pad 11, and a certain number of reinforcing ribs 12 distributed horizontally and vertically are fixed on the bottom surface of the top plate 10.

[0031] The product in Example 5 is a standard submersible lifting vehicle, suitable for scenarios with a high degree of automation and requiring lifting.

[0032] Example 6: Combination Figure 2 As shown, based on the above embodiment, a pole assembly 30 is provided at the top front end of the chassis body 20. The pole assembly 30 includes a pole 31 and an upper touch screen 32 at its top. An upper emergency stop button 33 and an antenna 34 are provided at the top of the upper touch screen 32.

[0033] The product in Example 6 is equipped with a pole-mounted touchscreen, making human-computer interaction more convenient and suitable for mixed human-computer scenarios.

[0034] The above description is only a specific embodiment of the present utility model, but the structural features of the present utility model are not limited thereto. The present utility model can be used in similar products. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A highly modular, concealed automated guided vehicle, characterized in that: Includes the roof (10) and the chassis body (20); The chassis body (20) includes a chassis base plate (21) and surrounding panels (22). The top plate (10) is located on top of the surrounding panels (22). An electronic control board and a battery assembly (23) are fixed on the top surface of the chassis base plate (21). Universal wheel assemblies (25) are fixed at the four corners of the bottom surface. Drive wheel assemblies (26) are fixed between the front and rear universal wheel assemblies (25). A transverse through groove (22.1) is provided on the front and rear sides of the surrounding panels (22). A laser radar (27) is fixed in the middle of the groove (22.1). The groove (22.1) has the smallest indentation in the middle and gradually increases towards both sides in a V-shape. A visual obstacle avoidance camera (24) is provided in the middle of the surrounding panel (22) above one of the grooves (22.1). The drive wheel assembly (26) includes a drive wheel (26.1), a floating suspension bracket (26.2), a drive wheel mounting plate (26.3), a guide shaft (26.4), a linear bearing (26.5), and a compression spring (26.6). The floating suspension bracket (26.2) is fixedly connected to the chassis base plate (21). There are two guide shafts (26.4) arranged vertically, and both ends are fixedly connected to the floating suspension bracket (26.2). There are two linear bearings (26.5) and two compression springs (26.6) respectively, which are sleeved on the guide shafts (26.4). Both ends of the drive wheel mounting plate (26.3) are fixedly connected to the two linear bearings (26.5). The lower end of the compression spring (26.6) abuts against the drive wheel mounting plate (26.3), and the upper end abuts against the top of the floating suspension bracket (26.2). The axle of the drive wheel (26.1) is connected to the middle of the drive wheel mounting plate (26.3).

2. The highly modular, concealed automated guided vehicle according to claim 1, characterized in that: The enclosure (22) is equipped with a start button (28), a lower emergency stop button (29), a lower touch screen (210), a debugging network port (211), and a charging port.

3. The highly modular, concealed automated guided vehicle according to claim 2, characterized in that: The number of charging ports is two, namely a manual charging port (212) and an automatic charging port (213).

4. The highly modular, concealed automated guided vehicle according to claim 3, characterized in that: The automatic charging port (213) is a brush plate assembly, including a brush plate insulating seat (213.1). The brush plate insulating seat (213.1) is flat, with two brush plate copper strips (213.2) arranged vertically on the front side. An electrode terminal (213.3) is fixed on the rear side of the brush plate copper strips (213.2). A charging detection photoelectric sensor (213.4) is fixedly installed on the brush plate insulating seat (213.1) located between the two brush plate copper strips (213.2).

5. The highly modular, concealed automated guided vehicle according to claim 1, characterized in that: Status indicator lights (214) are provided at the four corners of the enclosure (22), and several voice broadcast modules (215) are provided inside the enclosure (22).

6. The highly modular, concealed automated guided vehicle according to claim 1, characterized in that: The bottom of the chassis base plate (21) is provided with a detachable battery compartment (216), and the battery of the electronic control board and battery assembly (23) is located in the detachable battery compartment (216).

7. The highly modular, concealed automated guided vehicle according to claim 1, characterized in that: A certain number of support rods (217) are fixed on the chassis base plate (21). The upper end of the support rod (217) abuts against the top plate (10) or abuts against the top plate (10) through a gasket. A certain number of reinforcing ribs (12) distributed in the horizontal and vertical directions are fixed on the bottom surface of the top plate (10).

8. The highly modular, concealed automated guided vehicle according to claim 1, characterized in that: A certain number of lifting electric cylinders (218) are fixed on the chassis base plate (21), and a corresponding lifting pad (11) is fixed on the bottom surface of the top plate (10). The movable end of the lifting electric cylinder (218) is fixedly connected to the lifting pad (11), and a certain number of reinforcing ribs (12) distributed in the horizontal and vertical directions are fixed on the bottom surface of the top plate (10).

9. A highly modular, concealed automated guided vehicle according to any one of claims 1-8, characterized in that: The front end of the chassis body (20) is provided with a pole assembly (30), which includes a pole (31) and an upper touch screen (32) on its top.

10. A highly modular, concealed automated guided vehicle according to claim 9, characterized in that: The upper touch screen (32) is equipped with an upper emergency stop button (33) and an antenna (34) at the top.

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