CN102662398B - Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same - Google Patents
Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000003028 elevating effect Effects 0.000 claims description 40
- 230000005540 biological transmission Effects 0.000 claims description 19
- 239000007788 liquid Substances 0.000 claims description 14
- 239000002828 fuel tank Substances 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 7
- 239000012530 fluid Substances 0.000 claims description 4
- 238000011065 in-situ storage Methods 0.000 abstract 1
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- 230000005484 gravity Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000008439 repair process Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 3
- 238000004904 shortening Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
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- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The invention relates to a three-state hoisting mechanism and an AGV (Automatic Guided Vehicle) transporting vehicle provided with the same. The three-state hoisting mechanism is composed of a hydraulic device, a hoisting supporting frame and follower wheels, wherein the hydraulic device is mounted below a supporting face of the hoisting supporting frame; a plurality of the follower wheels are mounted below supporting legs of the hoisting supporting frame; the AGV transporting vehicle comprises an AGV vehicle body, the three-state hoisting mechanism and a universal movement mechanism; the universal movement mechanism is mounted on the lower surface of the AGV vehicle body; the three-state hoisting mechanism is mounted on the upper surface of the AGV vehicle body; a cargo bracket is arranged on the periphery of the three-state hoisting mechanism; and an AGV transportation function can be realized by supporting the cargo bracket through the three-state hoisting mechanism or separating the three-state hoisting mechanism from the cargo bracket, so as to solve the problem that the AGV transporting vehicle is not easy to drag and maintain after the AGV transporting vehicle has a fault, and solve straight-line movement, in-situ radius rotary movement and vehicle body rapid steering problems at any direction except front and back directions.
Description
Technical field
The invention belongs to AGV transport vehicle field, especially a kind of tri-state elevating mechanism and there is the AGV transport vehicle of tri-state elevating mechanism.
Background technology
AGV transport vehicle be a kind of take battery as power, the unmanned automated handling vehicle of non-contact guiding device and independent addressing system is housed.It has dolly programming, parking selecting arrangement, safeguard protection and various transfer function, and can under the monitoring of computing machine, by instruction autonomous driving, the automatic guide path along regulation, travel, and arrives appointed place, completes a series of job tasks.
Existing AGV transport vehicle has following Some features: 1, wheel is driven by motor, and motor is accepted instruction by wireless network, drives wheel to travel along the guide path of regulation, arrives appointed place, completes a series of job tasks.2, pressurized tank jacking apparatus only has two states, contraction state and jack-up car state.3, wheel only has a kind of working method, relies on intelligent signal to drive wheel running completely, and when signal is normal, under wireless network communication normal condition, wheel just can drive vehicle operating.Although existing AGV transport vehicle can complete task unmanned and automated handling vehicle, but, the problem of its existence is: when AGV transport vehicle is in ground running process, once there is unpredictalbe other factors, for example, when power-off, network failure, the system failure, due to the place one's entire reliance upon automatically controlled commander of net environment of AGV transport vehicle, to there is stuck state in wheel, car body original place together with wheel is locked, cannot drag and overhaul in Jiang Qi original place, and must use the equipment such as crane, dragged away.
Meanwhile, existing AGV transport vehicle is due to the restriction of its body construction, cannot solution by no means rectilinear motion, the original place radius of any direction of fore-and-aft direction rotatablely move, car body fast steering problem.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of tri-state elevating mechanism is provided and there is the AGV transport vehicle of tri-state elevating mechanism, solved the problem that being difficult for after AGV transport vehicle breaks down drags and keep in repair, and the rectilinear motion, the original place radius that have solved any direction of non-fore-and-aft direction rotatablely move, car body fast steering problem.
The present invention solves its technical matters and takes following technical scheme to realize:
An elevating mechanism, consists of hydraulic means, lifting support frame and supporting roller, and hydraulic means is arranged on the supporting surface below of lifting support frame, and a plurality of supporting rollers are arranged on the supporting leg below of lifting support frame.
And described hydraulic means quantity is one, this hydraulic means is arranged on the supporting surface bottom center position of lifting support frame.
And described hydraulic means quantity is a plurality of, the uniform supporting surface below that is arranged on lifting support frame of a plurality of hydraulic means.
And, described hydraulic means comprises fuel tank and pressurized tank, on pressurized tank sidewall, be provided with main pressure valve and reverse flow valve, main pressure valve is connected with fuel tank by connecting line with reverse flow valve, on fuel tank, be provided with solenoid valve for controlling the switch of main pressure valve and reverse flow valve and the flow direction of switching liquid, in pressurized tank, be axially installed with hydraulic column, the upper end of this hydraulic column is provided with a piston, this piston is divided into main hydraulic fluid tagma and phegma tagma by pressurized tank, and the lower end of hydraulic column passes and seals by O-ring seal from the bottom of pressurized tank.
And, on described fuel tank, be also provided with hand valve for controlling the switch of main pressure valve and reverse flow valve and the flow direction of switching liquid.
And the lower end of described hydraulic column is shaped with the screw thread for installing mutually with AGV car body.
A kind of AGV transport vehicle with tri-state elevating mechanism, comprise AGV car body, tri-state elevating mechanism and universal movement mechanism, universal movement mechanism is arranged on the lower surface of AGV car body, tri-state elevating mechanism is arranged on the upper surface of AGV car, at the outer goods bracket that is arranged with of tri-state elevating mechanism, by tri-state elevating mechanism, hold up goods bracket or realize AGV transportation function separated with goods bracket.
And described universal movement mechanism is one or more.
And, described universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically mounted on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are arranged on the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with gear train separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is installed together by car body terminal pad and car body, in the top of rotating shaft, one code-disc is installed.
And described gear train comprises speed reduction unit and transmission gear, speed reduction unit is connected to the output terminal of motor, and output terminal and the transmission gear of speed reduction unit mesh together, and transmission gear is installed together by pair of wheels bearing and wheel.
Advantage of the present invention and good effect are:
1, the present invention installs tri-state elevating mechanism on AGV car body, make the wheel of universal movement mechanism and the supporting roller of tri-state elevating mechanism land respectively and bear respectively ground supports point, by the positive pressure in control hydraulic means and buffer brake, realize jack-up goods bracket and realize transportation function, simultaneously, can AGV car body is separated with goods bracket by tri-state elevating mechanism, make AGV car body become suspended state and supporting roller in the state of landing from the state of landing, thereby being convenient to maintenance personal pulls AGV transport vehicle to drag and keep in repair by supporting roller, having solved AGV car body breaks down after wheel is stuck, be not easy to the problem that drags and keep in repair.
2, the present invention applies reverse aux. pressure by the forward principal pressure of controlling in hydraulic means simultaneously, or apply the method that reverse principal pressure applies forward aux. pressure simultaneously, be convenient to the slowly decline of goods and slowly rise, thus the safe operation while guaranteeing fault generation.
3, the present invention installs universal movement mechanism under AGV car body, can drive AGV car body to do any direction rectilinear motion and any direction curvilinear motion, and the method motionless by vehicle body, wheel turns, fundamentally solve zero radius of turn problem when AGV haulage vehicle is made the non-any direction rectilinear motion seesawing, solved the center displacement problem and Vehicular turn speed issue when AGV transport vehicle is done original place radius rotation.
Accompanying drawing explanation
Fig. 1 is the structural representation of tri-state elevating mechanism of the present invention;
Fig. 2 is the hydraulic device structure schematic diagram of tri-state elevating mechanism;
Fig. 3 is the AGV transport vehicle structural representation with tri-state elevating mechanism of the present invention
Fig. 4-1st, universal movement mechanism structure figure;
Fig. 4-2nd, the connection diagram of universal movement mechanism and AGV car body;
Fig. 5-1st, the view that wheel of the present invention lands;
Fig. 5-2nd, the view that supporting roller of the present invention suspends;
Fig. 6-1st, goods bracket of the present invention is about to by the view of jack-up;
Fig. 6-2nd, goods bracket of the present invention is by the view of jack-up;
Fig. 7-1st, starts hand valve and prepares artificial decompression schematic diagram during fault handling;
Fig. 7-2nd, during fault handling, forward flows out oppositely pressurization and makes goods bracket land schematic diagram;
Fig. 7-3rd, during fault handling, forward flows out oppositely and pressurizes and make goods bracket schematic diagram separated with car body;
Fig. 7-4th, during fault handling, forward flows out oppositely pressurization and makes supporting roller land schematic diagram;
Fig. 7-5th, during fault handling, forward flows out oppositely and pressurizes and make wheel suspension schematic diagram;
In figure, 1: hydraulic means, 1-1: main pressure valve, 1-2: main hydraulic fluid tagma, 1-3: reverse flow valve, 1-4: piston, 1-5: hand valve, 1-6: solenoid valve, 1-7: O-ring seal, 1-8: hydraulic column, 1-9: phegma tagma, 1-10: pipeline, 1-11: fuel tank, 1-12: pressurized tank, 1-13: screw thread; 2: lifting support frame, 3: supporting roller, 4:AGV car body, 5: goods bracket, 6: universal movement mechanism, 6-1: wheel bearing, 6-2: wheel, 6-3: transmission gear, 6-4,6-6: code-disc, 6-5: motor, 6-7: rotating shaft, 6-8: first stage decelerator, 6-9: two stage reducer, 6-10: support chassis, 6-11,12: shaft bearing, 6-13: car body terminal pad.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is further described:
A kind of tri-state elevating mechanism, as shown in Figure 1, by hydraulic means, lifting support frame and supporting roller, formed, the quantity of hydraulic means is one or more, when hydraulic means is one, the top of hydraulic means is arranged on the supporting surface bottom center position of lifting support frame, when hydraulic means is while being a plurality of, the uniform supporting surface below that is arranged on lifting support frame, top of hydraulic means, a plurality of supporting rollers are arranged on the supporting leg below of lifting support frame.As shown in Figure 2, hydraulic means comprises fuel tank and pressurized tank, on pressurized tank sidewall, be provided with main pressure valve and reverse flow valve, on fuel tank, be provided with solenoid valve and hand valve, main pressure valve is connected with fuel tank by connecting line with reverse flow valve, solenoid valve and hand valve are connected in parallel on main pressure valve and reverse flow valve, by electronic or manual mode, control the switch of main pressure valve and reverse flow valve and switch the flow direction of liquid, both can make liquid flow into and flow out from reverse flow valve from main pressure valve, and also can make liquid flow into and flow out from main pressure valve from reverse flow valve; In pressurized tank, be axially installed with hydraulic column, the upper end of this hydraulic column is provided with a piston, this piston is divided into main hydraulic fluid tagma and phegma tagma by pressurized tank, the lower end of hydraulic column passes and seals by O-ring seal from the bottom of pressurized tank, in the lower end of hydraulic column, is shaped with screw thread for the installation with AGV car body.
Tri-state elevating mechanism can be arranged on AGV car body and to form the AGV transport vehicle with tri-state elevating mechanism.As shown in Figure 3, a kind of AGV transport vehicle with tri-state elevating mechanism consists of AGV car body, tri-state elevating mechanism and universal movement mechanism, tri-state elevating mechanism is arranged on the upper surface of AGV car body, and its mounting means is that screw thread and the AGV car body by hydraulic column bottom is installed together; Universal movement mechanism can be for one or more, when using Yi Ge universal movement mechanism, universal movement mechanism is arranged on the middle position of the lower surface of AGV car body, when a plurality of universal movement of use mechanism, the uniform lower surface that is arranged on AGV car body of universal movement mechanism, universal movement mechanism can drive AGV car body to do any direction rectilinear motion and any direction curvilinear motion.This AGV transport vehicle needs to be used in conjunction with goods bracket in use, this goods bracket is arranged on the outside of tri-state elevating mechanism, when tri-state elevating mechanism rises, and the lifting support frame jack-up goods bracket that makes progress, when tri-state elevating mechanism declines, goods bracket is separated with lifting support frame.
As shown in Fig. 4-1 and Fig. 4-2, universal movement mechanism is by support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically mounted on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are arranged on the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, two wheels are arranged in the wheel groove that support chassis is provided with by two pairs of wheel bearings respectively, one end of two motors is all provided with code-disc, the other end of two motors is connected with gear train separately respectively, two cover drive mechanisms link together with wheel separately respectively, two wheels rotate respectively under the driving of motor separately and gear train thereof.Every sets of transmission mechanism includes first stage decelerator, two stage reducer and transmission gear, first stage decelerator and two stage reducer are connected to the output terminal of motor in turn, output terminal and the transmission gear of two stage reducer mesh together, transmission gear and motor be vertical direction each other, transmission gear is installed together by pair of wheels bearing and wheel, motor is by double reduction and transmission gear interlock and further drive vehicle wheel rotation, now, wheel is passed to power wheel bearing and is driven support chassis to move together with rotating shaft by wheel bearing.The upper end of rotating shaft is sleeved in two groups of shaft bearings, and two groups of shaft bearings are installed together by car body terminal pad and car body, in the top of rotating shaft, one code-disc are installed.When support chassis is rotated, rotating shaft is rotated with support chassis, and when rotating shaft time rotational, rotating shaft is rotated in two groups of shaft bearings, and car body terminal pad is motionless; When rotating shaft is moved along a direction, because car body terminal pad is fixedly connected with car body, thereby realize driven by motor body movement.
The principle of work of universal movement mechanism is: when AGV transport vehicle is made any given direction rectilinear motion, car body attitude keeps motionless and AGV transport vehicle going direction changing, that is: by two wheel differential ratios, making two wheels produce original place rotates, in two vehicle wheel rotation processes, rotating shaft, wheel bearing, wheel, support chassis is rotated together, because rotating shaft is to rotate in shaft bearing in autobiography process, therefore, kept the car body terminal pad of rotating shaft upper end motionless, again because car body terminal pad is bound with car body, thereby realize that car body attitude is motionless and vehicle changes nyctitropic object.When AGV transport vehicle is done any given curvilinear motion, on curve, any point has a position deviation and angular deviation with respect to starting point, by making car body constantly produce position deviation and angular deviation, can realize car body and do arbitrary curve motion.It realizes principle: according to position deviation and angular deviation differentiate, obtain linear velocity and the angular velocity requirement of AGV transport vehicle, take motor as power source, suppose it is 4 groups of mechanisms (every group of 2 motors), 8 wheels, according to the kinematic feature of AGV transport vehicle, thereby allow 8 motors in the corresponding moment, there is corresponding linear velocity and angular velocity not producing in the same time the universal movement mechanism that different rotating speeds forms every two wheels, the linear velocity of Si Zu universal movement mechanism and angular velocity synthesize the linear velocity in space and the angular velocity of AGV transport vehicle, be the desired linear velocity of given curve and angular velocity, and then AGV transport vehicle moves according to given curve.
The AGV transport vehicle with tri-state elevating mechanism comprises following three kinds of states: the first state (wheel suspends and the supporting roller state that lands): take supporting roller as ground supports point, wheel is suspended state, this state can be used for fault handling, by supporting roller, drags AGV car; The second state (supporting roller suspension and goods bracket be not by jack-up state): take wheel as ground supports point, supporting roller is suspended state, and lifting support frame is jack-up goods bracket not, and this state drives moving freely of AGV car body by universal movement mechanism; The third state (supporting roller suspension and goods bracket are by jack-up state): take wheel as ground supports point, supporting roller is suspended state, lifting support frame jack-up goods bracket, this state drives AGV car body, goods bracket and goods above thereof to carry out freight handling by universal movement mechanism.Being changed between its state: 1, wheel by suspended state to the state of landing, 2, goods bracket becomes by jack-up state from the state of landing, 3, goods bracket is by being jacked to the state of landing, 4, supporting roller by suspended state to the state of landing.Wherein, the first two is that the method that is greater than opposite force by the positive force in regulator solution pressure device obtains, and latter two is that the method that is greater than positive force by the opposite force in regulator solution pressure device obtains.Its principle of work is: 1, by solenoid valve or hand valve, open main pressure valve liquid is pressed in pressurized tank, pressure promotes piston and moves along the direction of putting forth effort, and piston drives AGV car body to move along pressure direction by hydraulic column; 2, under duty, by the flow direction of solenoid control hydraulic pressure, both can make liquid flow into and flow out from reverse flow valve from main pressure valve, and also can make liquid flow into and flow out from main pressure valve from reverse flow valve; 3,, under malfunction, hand valve replaces solenoid valve to carry out the switching between main pressure valve and reverse flow valve.
To AGV transport vehicle, the process from original state to jack-up goods bracket is elaborated below:
As shown in Figure 3, under original state (the first state), wheel is 1/2h in suspended state and wheel tracks height overhead; Supporting roller and goods bracket be all in the state of landing, and goods bracket is h with the distance of lifting support frame upper surface.
As shown in Fig. 5-1, by hydraulic means, drive lifting support frame to make wheel slowly land, from wheel, by suspended state, change to the state of landing.Its detailed process is: 1, by solenoid valve, open main pressure valve and reverse flow valve, main pressure valve and reverse flow valve form closed loop, and the positive force (pressurization produces) of controlling well is greater than opposite force (generation that refluxes), and AGV car body is slowly landed; 2, pressure enters pressurized tank from main pressure valve, now gives downward power of piston (also claiming positive force), and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on wheel the most at last, makes wheel be become and be landed from suspension.Its principle is: after being under pressure, piston is pushed, and the 1/2h height that declined; Because hydraulic column connects with piston, when piston is pushed, hydraulic column has also extended 1/2h length downwards, and hydraulic column connects AGV car body, when hydraulic column extends downwards, also promote AGV car body and moved down 1/2h, realize thus wheel and become from suspended state the state of landing.
As shown in Fig. 5-2: drive lifting support frame to rise by hydraulic means and make supporting roller become suspended state from the state of landing simultaneously, lifting support frame is changed into 1/2h with the distance of goods bracket by original h.Its detailed process is: 1, by solenoid valve, open main pressure valve and reverse flow valve, main pressure valve and reverse flow valve form closed loop, and the positive force (pressurization produces) of controlling well is greater than opposite force (generation that refluxes), and object slowly rises; Step 2, pressure enter pressurized tank from main pressure valve, continue to downward power of piston (also claiming positive force), and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on wheel the most at last.Because wheel now lands, the pressure that imposes on wheel is faced the reacting force of wheel with changing into, reacting force is along the route of landing ground → wheel → hydraulic column → AGV car body → pressurized tank, power passes to lifting support frame the most at last, make supporting roller upwards hold up 1/2h height together with support, supporting roller becomes suspended state from the state of landing.
As in Figure 6-1, by hydraulic means, drive lifting support frame to continue to rise, make lifting support frame upper surface and goods bracket lower surface close contact.Its treatment step is: the positive force (pressurization produces) of 1, controlling well is greater than opposite force (generation that refluxes), makes lifting support frame slowly increase, 2, pressure enters pressurized tank from main pressure valve, continuation is to downward power of piston (also claiming positive force), positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, power is applied on wheel the most at last, because wheel now lands, the pressure that imposes on wheel is faced the reacting force of wheel with changing into, reacting force is along the route of landing ground → wheel → hydraulic column → AGV car body → pressurized tank, power passes to lifting support frame the most at last, make supporting roller upwards hold up 1/2h height and press close to goods bracket together with bracing frame, goods bracket presents soon by the state of jack-up.
As shown in Fig. 6-2, by hydraulic means, drive lifting support frame to continue to rise, make lifting support frame increase gradually with goods bracket, finally by goods bracket jack-up built on stilts.Its treatment step is: the positive force (pressurization produces) of 1, controlling well is greater than in opposite force (generation that refluxes), allows object slowly rise; 2, pressure enters pressurized tank from main pressure valve, continues to downward power of piston (also claiming positive force), and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on wheel the most at last.Because wheel now lands, the pressure that imposes on wheel is faced the reacting force of wheel with changing into, reacting force is along the route of landing ground → wheel → hydraulic column → AGV car body → pressurized tank, power passes to lifting support frame the most at last, make supporting roller together with the bracing frame jack-up goods bracket that makes progress, allow goods bracket built on stilts.
Can be by goods bracket and goods jack-up above thereof by above-mentioned steps, AGV car fades to the third state by the first state, by universal movement mechanism, drives AGV car body to carry out freight handling.
When AGV transport vehicle is when breaking down, by Fig. 7-1 to the treatment step shown in Fig. 7-5, process, below its processing procedure is elaborated:
As shown in Fig. 7-1, start hand valve and manually reduce pressure.Its realize target is: by hydraulic means, drive general who has surrendered's wheel under lifting support frame to become suspended state from the state of landing, with supporting roller substituting wheels, land.Implementation step is as follows: 1, with hand valve, replace solenoid valve to carry out the switching between main pressure valve and reverse flow valve; 2, by the method that oppositely pressurization and forward flow out, allow reverse flow valve become current main pressure valve, and allow main pressure valve become reverse flow valve.
As shown in Fig. 7-2, by reverse pressurization forward outflow mode, goods bracket is landed.Its realize target is: by hydraulic means, drive goods bracket, lifting support frame, pressurized tank slowly to decline, goods bracket becomes from suspended state the state of landing.Implementation step is as follows: 1, allow liquid oppositely enter (from reverse flow valve, entering), forward flows out (from main pressure valve, flowing out); 2, controlling the opposite force (oppositely pressurization produce) of pressurized tank well is greater than pressurized tank positive force (forward reflux produce), because the gravity now acting on wheel equals the anchorage force that ground gives it, therefore, opposite force in pressurized tank just promotes piston and rises along buffer brake direction, and AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the Distance Shortened of hydraulic column between pressurized tank and AGV car body, due to Distance Shortened, the lifting support frame, the goods bracket that cause pressurized case to support also decline along with the shortening of distance, and falling head is 1/2h, and goods bracket becomes from original suspended state the state of landing.
As shown in Fig. 7-3, by reverse pressurization forward outflow mode, make goods bracket separated with car body.Its realize target is: by hydraulic means, drive lifting support frame slowly to decline, lifting support frame is 1/2h with the distance between goods bracket in the vertical direction.Performing step is as follows: 1, allow liquid oppositely enter (from reverse flow valve, entering), forward flows out (from main pressure valve, flowing out); 2, controlling the opposite force (oppositely pressurization produce) of pressurized tank well is greater than pressurized tank positive force (forward reflux produce), because the gravity now acting on wheel equals the anchorage force that ground gives it, therefore, opposite force in pressurized tank just promotes piston and rises along buffer brake direction, and AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the Distance Shortened of hydraulic column between pressurized tank and AGV car body, due to Distance Shortened, the lifting support frame that causes pressurized case to support also declines along with the shortening of distance, now, be positioned at lifting support frame top, by the goods bracket of ground supports, with lifting support frame, pulled open distance, vertical range is 1/2h height.
As shown in Fig. 7-4, by reverse pressurization forward outflow mode, supporting roller is landed.Its realize target is: by hydraulic means, drive lifting support frame to continue slowly to decline, supporting roller becomes from the state of ground that suspends the state of landing.Performing step is as follows: 1, allow liquid oppositely enter (from reverse flow valve, entering), forward flows out (from main pressure valve, flowing out); 2, controlling the opposite force (oppositely pressurization produce) of pressurized tank well is greater than pressurized tank positive force (forward reflux produce), because the gravity now acting on wheel equals the anchorage force that ground gives it, therefore, opposite force in pressurized tank just promotes piston and rises along buffer brake direction, and AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the Distance Shortened of hydraulic column between pressurized tank and AGV car body, and due to Distance Shortened, the lifting support frame that causes pressurized case to support also declines along with the shortening of distance, from suspended state, becomes the state of landing.And be positioned at lifting support frame top, by the goods bracket of ground supports, with lifting support frame, again pulled open distance, vertical range is H height.
As shown in Fig. 7-5, by reverse pressurization forward outflow mode, wheel is suspended.Its realize target is: by hydraulic means, drive lifting support frame to make the gravity that wheel is subject to be less than opposite force, wheel is slowly risen, from the state of landing, become suspended state.Performing step is as follows: 1, allow liquid oppositely enter (from initialized reverse flow valve, entering), forward flows out (from initialized main pressure valve, flowing out); 2, controlling the opposite force (oppositely pressurization produce) of pressurized tank well is greater than pressurized tank positive force (forward reflux produce), because supporting roller now lands, supporting roller is under the effect of the anchorage force on ground, bearing the gravity on wheel, when the opposite force of pressurized tank acts on wheel, the suffered power making progress of wheel is greater than downward power, so, car body can slowly be risen, and from the state of landing, becomes suspended state.
Can AGV transport vehicle is completely separated with goods bracket and goods thereof by above-mentioned steps, namely AGV freight department becomes the first state from the third state, now wheel suspends and the supporting roller state that lands, and therefore, AGV transport vehicle can be dragged away and keep in repair easily by supporting roller.
It is emphasized that; embodiment of the present invention is illustrative; rather than determinate; therefore the present invention is not limited to the embodiment described in embodiment; every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention, belong to the scope of protection of the invention equally.
Claims (8)
1. a tri-state elevating mechanism, is characterized in that: hydraulic means, lifting support frame and supporting roller, consist of, hydraulic means is arranged on the supporting surface below of lifting support frame, and a plurality of supporting rollers are arranged on the supporting leg below of lifting support frame; Described hydraulic means comprises fuel tank and pressurized tank, on pressurized tank sidewall, be provided with main pressure valve and reverse flow valve, main pressure valve is connected with fuel tank by connecting line with reverse flow valve, on fuel tank, be provided with solenoid valve for controlling the switch of main pressure valve and reverse flow valve and the flow direction of switching liquid, in pressurized tank, be axially installed with hydraulic column, the upper end of this hydraulic column is provided with a piston, this piston is divided into main hydraulic fluid tagma and phegma tagma by pressurized tank, and the lower end of hydraulic column passes and seals by O-ring seal from the bottom of pressurized tank.
2. a kind of tri-state elevating mechanism according to claim 1, is characterized in that: described hydraulic means quantity is one, and this hydraulic means is arranged on the supporting surface bottom center position of lifting support frame.
3. a kind of tri-state elevating mechanism according to claim 1, is characterized in that: described hydraulic means quantity is a plurality of, the uniform supporting surface below that is arranged on lifting support frame of a plurality of hydraulic means.
4. according to a kind of tri-state elevating mechanism described in claims 1 to 3 any one, it is characterized in that: on described fuel tank, be also provided with hand valve for controlling the switch of main pressure valve and reverse flow valve and the flow direction of switching liquid.
5. according to a kind of tri-state elevating mechanism described in claims 1 to 3 any one, it is characterized in that: the lower end of described hydraulic column is shaped with the screw thread for installing mutually with AGV car body.
6. an AGV transport vehicle with the tri-state elevating mechanism described in claim 1 to 5 any one, it is characterized in that: comprise AGV car body, tri-state elevating mechanism and universal movement mechanism, universal movement mechanism is arranged on the lower surface of AGV car body, tri-state elevating mechanism is arranged on the upper surface of AGV car, at the outer goods bracket that is arranged with of tri-state elevating mechanism, by tri-state elevating mechanism, hold up goods bracket or realize AGV transportation function separated with goods bracket, described universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels, the lower end of rotating shaft is vertically mounted on the center of support chassis, two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are arranged on the upper surface of support chassis, two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with motor vertical other both sides of rotating shaft each other, and be arranged on respectively in the wheel groove that support chassis is provided with by two pairs of wheel bearings, one end of two motors is all provided with code-disc, the other end of two motors is connected with gear train separately respectively, two cover drive mechanisms link together with wheel separately respectively, rotating shaft upper end is sleeved in shaft bearing, and this shaft bearing is installed together by car body terminal pad and car body, in the top of rotating shaft, one code-disc is installed.
7. a kind of AGV transport vehicle with tri-state elevating mechanism according to claim 6, is characterized in that: described universal movement mechanism is one or more.
8. according to a kind of AGV transport vehicle with tri-state elevating mechanism described in claim 6 or 7, it is characterized in that: described gear train comprises speed reduction unit and transmission gear, speed reduction unit is connected to the output terminal of motor, output terminal and the transmission gear of speed reduction unit mesh together, and transmission gear is installed together by pair of wheels bearing and wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210132463.4A CN102662398B (en) | 2012-04-28 | 2012-04-28 | Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same |
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| CN201210132463.4A CN102662398B (en) | 2012-04-28 | 2012-04-28 | Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same |
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| CN102662398A CN102662398A (en) | 2012-09-12 |
| CN102662398B true CN102662398B (en) | 2014-01-15 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103407517B (en) * | 2013-08-16 | 2015-06-17 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN104950886B (en) * | 2015-06-15 | 2017-07-11 | 合肥工业大学 | A kind of intelligent maintenance AGV dolly workbenches |
| CN106276105A (en) * | 2016-08-31 | 2017-01-04 | 无锡锡南铸造机械股份有限公司 | A kind of RGV intelligence is across rail car |
| CN108725297B (en) * | 2018-07-10 | 2023-09-05 | 大连壹海科技有限公司 | Trackless transport vehicle for heavy-load logistics system |
| CN109358631A (en) * | 2018-11-27 | 2019-02-19 | 上海海事大学 | A kind of intelligent object conveying robot |
| CN109933076A (en) * | 2019-04-22 | 2019-06-25 | 贵州翰凯斯智能技术有限公司 | One kind being based on unpiloted mobile multifunctional vehicle system and application method |
| JP7347293B2 (en) * | 2020-03-27 | 2023-09-20 | トヨタ自動車株式会社 | Information processing device, information processing method, and information processing system |
| CN113104769A (en) * | 2021-05-12 | 2021-07-13 | 陈维加 | AGV lifting device |
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| JP4978052B2 (en) * | 2005-11-09 | 2012-07-18 | 日産自動車株式会社 | Work conveying apparatus and work conveying method |
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| CN2483473Y (en) * | 2001-01-15 | 2002-03-27 | 池续航 | Electromagnetic guiding and automatic parking means |
| CN1926034A (en) * | 2003-12-22 | 2007-03-07 | 莱特-海特控股公司 | Brace system and method for a vehicle at a loading dock |
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Effective date of registration: 20160112 Address after: 518000 Guangdong province Shenzhen City Xili Nanshan District University City sangtai building block A room 503 Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY Co.,Ltd. Address before: 214135 Jiangsu Province, Wuxi City District Zhenze Wuxi Road No. 18 (National) whale Software Park A District 4 floor Patentee before: WUXI PUZHI LIANKE HIGH-TECH Co.,Ltd. |
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