CN112591667A - AGV for assembling vehicle engine - Google Patents
AGV for assembling vehicle engine Download PDFInfo
- Publication number
- CN112591667A CN112591667A CN202011471800.3A CN202011471800A CN112591667A CN 112591667 A CN112591667 A CN 112591667A CN 202011471800 A CN202011471800 A CN 202011471800A CN 112591667 A CN112591667 A CN 112591667A
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- CN
- China
- Prior art keywords
- lifting
- agv
- support frame
- lifting support
- vehicle engine
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/149—Whole unit including fork support rotates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automatic Assembly (AREA)
Abstract
The invention discloses an AGV for assembling a vehicle engine, comprising: the lifting rotary device comprises a chassis and a vehicle body, wherein an installation cover plate is arranged on the chassis, a lifting guide rail is arranged on one side of the vehicle body close to the installation cover plate, and a lifting rotary device is connected on the lifting guide rail in a sliding manner; the lifting and rotating device comprises: the lifting support frame is provided with a lifting motor and a rotating mechanism, and the rotating mechanism is positioned on one side of the lifting support frame close to the mounting cover plate; the sliding blocks are fixedly arranged at the positions, corresponding to the lifting guide rails, of the lifting support frame, the lifting motor and the rotating mechanism are electrically connected with a control system of the AGV, so that the AGV can automatically transport the engine, automatically adjust the height and the angle of the engine, realize semi-automatic assembly, have good flexibility, reduce labor cost, improve assembly efficiency and guarantee production efficiency and production safety.
Description
Technical Field
The invention relates to the technical field of AGV, in particular to an AGV for assembling a vehicle engine.
Background
AGVs are abbreviated as Automated guided vehicles (Automated guided vehicles), and are vehicles equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and have safety protection and various transfer functions.
The existing vehicle engine assembly mainly adopts a manual mode to install an engine in place, assembly can be completed only by cooperation of multiple persons, the labor cost is high, the labor intensity is high, lifting and overturning mechanisms can be used in some assembling processes, but the structure size is large, operation of workers is not facilitated, certain potential safety hazards are provided, meanwhile, the mobility is not provided, and the engine assembly line is poor in flexibility and low in use efficiency.
Disclosure of Invention
For solving the not enough among the prior art, the inventor provides an AGV for vehicle engine assembly, has good flexibility, can realize the automatic transportation engine, and semi-automatic assembly engine can effectively reduce the human cost, improves production efficiency.
Specifically, the present invention is realized by:
an AGV for vehicle engine assembly, comprising: the lifting device comprises a chassis and a vehicle body, wherein an installation cover plate is arranged on the chassis, a lifting guide rail is vertically arranged on one side of the vehicle body close to the installation cover plate, and a lifting rotating device is connected onto the lifting guide rail in a sliding manner;
the lifting and rotating device comprises: the lifting support frame is provided with a lifting motor and a rotating mechanism, and the rotating mechanism is positioned on one side of the lifting support frame close to the mounting cover plate; the lifting support frame with the fixed slider that is provided with in the corresponding position department of lifting guide, elevator motor links to each other with AGV's control system for control instruction drive according to AGV the slider slides on lifting guide, so that lifting support frame goes up and down.
Further, rotary mechanism is including fixing the rotary reduction gear at lifting support frame middle part, with the rotating electrical machines that rotary reduction gear's input links to each other, be provided with the screw hole on rotary reduction gear's the slewing bearing's the outer lane, the screw hole be used for with the bolted connection on the engine installing support, rotating electrical machines with AGV's control system links to each other for control instruction drive according to AGV slewing bearing rotates.
Further, the lifting support frame is close to the bottom of automobile body one side is provided with first fixing base, be provided with a vertical running through on the first fixing base the ball of first fixing base is vice, the bottom of ball is vice is connected with the second fixing base, the inside shaft coupling that is provided with of second fixing base, shaft coupling and ball are vice fixed connection, second fixing base bottom is provided with first reduction gear, the output of first reduction gear with the coupling joint, the input and the elevator motor of first reduction gear are connected.
Furthermore, a first encoder is arranged on the second fixed seat and used for detecting the lifting height of the lifting support frame; a first lifting detection switch and a second lifting detection switch are arranged on one side, close to the lifting support frame, of the vehicle body, and the height of the first lifting detection switch is lower than that of the second lifting detection switch; one side that lift supports is close to the automobile body is provided with the position response piece, works as when first detection switch detects the position response piece, lift supports reachs the lowest position, works as when second lift detection switch detects the position response piece, lift supports reachs the highest position.
Further, slewing bearing's both sides are provided with rotatory spacing detection switch, rotatory spacing detection switch is located slewing bearing middle part position department under to, be provided with the tablet on the engine installing support, detect when arbitrary one of two rotatory spacing detection switch during the tablet, slewing bearing's rotation angle reaches the biggest.
Furthermore, a second encoder is arranged on the rotary speed reducer, and an encoder shaft of the second encoder is coaxially connected with a non-output end of a worm of the rotary speed reducer and used for detecting the rotation angle of the rotary support.
Furthermore, limiting plates are arranged at the top end and the bottom end of the lifting guide rail, and the limiting plates are used for limiting the lifting range of the lifting rotating device.
Furthermore, the middle part of the lifting support frame is provided with a through hole with the same size as the round hole in the middle part of the slewing bearing.
Furthermore, a plurality of roller groups are arranged on two sides of the chassis.
The working principle of the invention is introduced:
when the AGV takes goods, the roller groups on the two sides of the AGV guide, after the AGV is in place, the engine mounting bracket provided with the engine is fixed on the rotating mechanism, the engine mounting bracket is further fixed on the AGV, then the AGV carries the goods, and in the carrying process, according to the assembling requirement of the engine, the AGV control system controls the work of the lifting motor, so that the ball screw pair is driven to rotate, the lifting support frame moves upwards under the action of the ball screw pair, and meanwhile, the sliding block slides on the lifting guide rail, so that the lifting stability is improved; the AGV control system also controls the rotary motor to work, drives the slewing bearing to rotate, further drives the engine to rotate, and realizes the function of lifting and rotating the engine.
Compared with the prior art, the invention has the beneficial effects that:
(1) the AGV provided by the invention can automatically plan a path to a destination according to different engine placing positions, and after the angle and the height of the engine are adjusted, the AGV is manually installed, so that the labor cost is greatly reduced, and the working efficiency is improved.
(2) Be provided with lift position detection switch, rotatory extreme position detection switch for lift, rotatory operation are all in safety range, guarantee the safety of assembly.
(3) Limiting plates are arranged at the top end and the bottom end of the lifting guide rail, so that system errors and unnecessary mechanical accidents can be avoided, and the use safety is ensured to the maximum extent.
Drawings
Fig. 1 is a diagram showing a state of use of an AGV for engine assembly in embodiment 1;
FIG. 2 is a schematic view showing the construction of an AGV for engine assembly according to embodiment 1;
FIG. 3 is a schematic structural view of a vehicle body in embodiment 1;
FIG. 4 is a schematic front view of the lifting rotation device in embodiment 1;
fig. 5 is a schematic back view of the lifting rotation device in embodiment 1.
Reference numerals:
1-a chassis; 11-installing a cover plate; 12-roller group; 2-a vehicle body; 21-a lifting guide rail; 211-limiting plate; 22-a first lift detection switch; 23-a second lift detection switch; 3-lifting the rotating device; 31-a lifting support frame; 311-a slider; 312-a via; 313-rotation limit detection switch; 314-a position sensing pad; 32-a rotation mechanism; 321-a slewing bearing; 3211-a threaded hole; 322-a rotating electrical machine; 323-a second encoder; 331-a lifting motor; 332 — a first reducer; 333-a second fixed seat; 3331-coupling; 3332-first encoder; 334-first fixed seat; 335-ball screw pair; 4-engine mounting bracket.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
Example 1
1-2, the present invention provides an AGV for an engine assembly, the AGV comprising: the vehicle comprises a chassis 1 and a vehicle body 2, wherein an installation cover plate 11 is arranged on the chassis 1, and the installation cover plate 11 is used for protecting the chassis 1 and internal devices. Preferably, AGV chassis 1 ground clearance is 250mm, is favorable to the AGV afterbody to walk to narrow gap below and gets goods, improves AGV's adaptability. The both sides on chassis 1 are provided with a plurality of roller train 12, and roller train 12 has the guide effect, can realize that two side rolling friction of this AGV afterbody backs a car, improves the precision of backing a car. One side of the vehicle body 2 close to the installation cover plate 1 is provided with a lifting guide rail 21, and the lifting guide rail 21 is connected with a lifting rotating device 3 in a sliding way. It should be understood that the AGV is provided with an AGV control system, which can operate according to a planned travel path. According to the AGV, the engine is lifted and rotated through the lifting and rotating device 3, the height and the angle of the engine can be adjusted, and then the engine is installed manually, so that the labor cost is greatly reduced, the working efficiency is improved, and the AGV has good safety performance.
Specifically, as shown in fig. 3 to 5, the lifting and rotating device 3 includes: the lifting support frame 31, the lifting motor 331 and the rotating mechanism which are arranged on the lifting support frame 31, wherein the rotating mechanism is positioned on one side of the lifting support frame 31 close to the mounting cover plate 11. The rotation mechanism 3 includes: the rotary speed reducer 32 is fixed in the middle of the lifting support frame 31, the rotating motor 322 is connected with the input end of the rotary speed reducer 32, the outer ring of the rotary support 321 of the rotary speed reducer 32 is provided with a threaded hole 3211, and the engine can be fixed on the AGV by screwing the bolt on the engine mounting bracket 4 into the threaded hole 3211. The rotating electrical machine 322 operates to transmit power to the slewing bearing 321, so that the slewing bearing 321 rotates to adjust the angle of the engine. The middle part of the lifting support frame 31 is provided with a through hole 312 with the same size as the circular hole in the middle part of the slewing bearing 321, so that the protruding part of the engine cannot jack the lifting support frame 31, and the stability and the safety in the working process are ensured. The rotary speed reducer 32 is provided with a second encoder 324, and an encoder shaft of the second encoder 324 is coaxially connected with a non-output end of the worm of the rotary speed reducer 32, and is used for detecting the rotation angle of the rotary support 321. Rotating electrical machines 322, second encoder 324 all link to each other with AGV's control system, and when needing the adjustment engine angle, AGV control system is according to needs pivoted angle, transmits control signal to rotating electrical machines 322, controls rotating electrical machines 322 work, and second encoder 324 real-time detection turned angle guarantees pivoted accuracy simultaneously. The power is transmitted to the slewing bearing 321 through the second speed reducer 323, and the slewing bearing 321 rotates to achieve the purpose of adjusting the angle. Further, rotation limit detection switches 313 are disposed on both sides of the pivoting support 321, the rotation limit detection switches 313 are located at a position lower than the middle of the pivoting support 321, corresponding sensing plates are disposed on the engine mounting bracket 4, and when any one of the two rotation limit detection switches 313 detects a sensing plate, the pivoting support 321 rotates to a maximum angle. Preferably, the installation position of the induction plate is in the axial line position of the engine support, the rotation angle range of the slewing bearing 321 is +/-70 degrees, the limit angle of the rotation limit detection switch 313 is +/-75 degrees, and the installation requirement can be met.
The sliding block 311 is fixedly arranged at a position corresponding to the lifting guide rail 21 of the lifting support frame 31, a first fixing seat 334 is arranged at the bottom of one side, close to the vehicle body 2, of the lifting support frame 31, a ball screw pair 335 vertically penetrating through the first fixing seat 334 is arranged on the first fixing seat 334, the bottom end of the ball screw pair 335 is connected with a second fixing seat 333, a coupler 3331 is arranged inside the second fixing seat 333, the coupler 3331 is fixedly connected with the ball screw pair 335, a first speed reducer 332 is arranged at the bottom of the second fixing seat 333, the output end of the first speed reducer 332 is connected with the coupler 3331, and the input end of the first speed reducer 332 is connected with the lifting motor. The side wall of the second fixing seat 333 is provided with a first encoder 3332, and the first encoder 3332 is preferably a stay wire encoder for detecting the lifting height of the lifting support frame 31. The lifting motor 331 and the first encoder 3332 are both connected with the control system of the AGV, when the engine needs to be lifted, the lifting motor 331 works, power is transmitted to the coupler 3331 through the first reducer 332, and then is transmitted to the ball screw pair 335 through the coupler 3331, so that the ball screw pair 335 rotates, the first fixing seat 334 further moves upwards on the ball screw pair 335, the lifting support frame 31 is lifted, and the engine is lifted; meanwhile, the first encoder 3332 detects the ascending height of the lifting support frame 31 in real time, and the control precision is improved. Further, a first lifting detection switch 22 and a second lifting detection switch 23 are arranged on one side of the vehicle body 2 close to the lifting support frame 31, and the height of the first lifting detection switch 22 is lower than that of the second lifting detection switch 23. A position sensing piece 314 is arranged on one side of the lifting support frame 31 close to the vehicle body 2. When the first detecting switch 22 detects the position sensing piece 314, the lifting support frame 31 reaches the lowest position; when the second elevation detection switch 23 detects the position sensing piece 314, the elevation support frame 31 reaches the uppermost position.
It should be noted that the first encoder, the second encoder, the first elevation detection switch, the second elevation detection switch, and the rotation limit detection switch according to the present application are all commercially available products, and the present application does not relate to improvement thereof, and the control method thereof can be implemented by those skilled in the art through conventional technical means, and is not described herein again.
Further, the top end and the bottom end of the lifting guide rail 21 are provided with a limiting plate 211, the limiting plate 211 is used for limiting the lifting range of the lifting rotating device 3, unnecessary mechanical accidents caused by system errors are prevented, and the use safety is guaranteed to the maximum extent.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (9)
1. An AGV for assembling a vehicle engine comprises a chassis and a vehicle body, wherein an installation cover plate is arranged on the chassis, and the AGV is characterized in that a lifting guide rail is vertically arranged on one side, close to the installation cover plate, of the vehicle body, and a lifting rotating device is connected onto the lifting guide rail in a sliding manner;
the lifting and rotating device comprises: the lifting support frame, the lifting motor and the rotating mechanism are arranged on the lifting support frame, and the rotating mechanism is positioned on one side of the lifting support frame, which is close to the mounting cover plate, and is fixedly connected with the engine mounting bracket; the lifting support frame with the fixed slider that is provided with in the corresponding position department of lifting guide, elevator motor links to each other with AGV's control system for control instruction drive according to AGV the slider slides on lifting guide, so that lifting support frame goes up and down.
2. An AGV for a vehicle engine assembly as claimed in claim 1, characterised in that the rotation mechanism comprises: fix the rotation reduction gear at lifting support frame middle part, with the rotating electrical machines that rotation reduction gear's input links to each other, be provided with the screw hole on rotation reduction gear's the slewing bearing's the outer lane, the screw hole be used for with bolted connection on the engine installing support, the rotating electrical machines with AGV's control system links to each other for control instruction drive according to AGV slewing bearing rotates.
3. The AGV for assembling the vehicle engine according to claim 1, wherein a first fixing seat is arranged at a bottom of the lifting support frame close to one side of the vehicle body, a ball screw pair vertically penetrating through the first fixing seat is arranged on the first fixing seat, a second fixing seat is connected to a bottom end of the ball screw pair, a coupler is arranged inside the second fixing seat, the coupler is fixedly connected with the ball screw pair, a first speed reducer is arranged at a bottom of the second fixing seat, an output end of the first speed reducer is connected with the coupler, and an input end of the first speed reducer is connected with the lifting motor.
4. The AGV for vehicle engine assembly according to claim 3, characterised in that a first encoder is provided on the second mounting base for detecting the lifting height of the lifting support frame; a first lifting detection switch and a second lifting detection switch are arranged on one side, close to the lifting support frame, of the vehicle body, and the height of the first lifting detection switch is lower than that of the second lifting detection switch; one side that lift supports is close to the automobile body is provided with the position response piece, works as when first detection switch detects the position response piece, lift supports reachs the lowest position, works as when second lift detection switch detects the position response piece, lift supports reachs the highest position.
5. An AGV for a vehicle engine assembly as recited in claim 2, wherein rotation limit detecting switches are provided at both sides of the swing bearing at positions lower than the middle of the swing bearing, and a sensing plate is provided on the engine mounting bracket, and the rotation angle of the swing bearing is maximized when the sensing plate is detected by either one of the two rotation limit detecting switches.
6. The AGV for a vehicle engine assembly according to claim 2, characterised in that a second encoder is provided on the rotary speed reducer, the encoder shaft of which is coaxially connected to the non-output end of the worm of the rotary speed reducer for detecting the rotation angle of the rotary bearing.
7. The AGV for vehicle engine assembly according to any one of claims 1 to 6, characterised in that the lifting rail is provided with limit plates at both top and bottom ends for limiting the lifting range of the lifting and rotating device.
8. An AGV for a vehicle engine assembly as claimed in claim 2, in which the central portion of the lifting support frame is provided with a through hole of the same size as the circular hole in the central portion of the slewing bearing.
9. An AGV for a vehicle engine assembly as claimed in claim 1, in which a plurality of roller sets are provided on either side of the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011471800.3A CN112591667A (en) | 2020-12-14 | 2020-12-14 | AGV for assembling vehicle engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011471800.3A CN112591667A (en) | 2020-12-14 | 2020-12-14 | AGV for assembling vehicle engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112591667A true CN112591667A (en) | 2021-04-02 |
Family
ID=75195760
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011471800.3A Pending CN112591667A (en) | 2020-12-14 | 2020-12-14 | AGV for assembling vehicle engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112591667A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212475A (en) * | 2021-12-31 | 2022-03-22 | 华晓精密工业(苏州)有限公司 | 4-degree-of-freedom cantilever shaft type AGV system |
-
2020
- 2020-12-14 CN CN202011471800.3A patent/CN112591667A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212475A (en) * | 2021-12-31 | 2022-03-22 | 华晓精密工业(苏州)有限公司 | 4-degree-of-freedom cantilever shaft type AGV system |
| CN114212475B (en) * | 2021-12-31 | 2024-05-17 | 华晓精密工业(苏州)有限公司 | 4-Degree-of-freedom cantilever shaft type AGV system |
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