CN112694033A - Heavy load AGV transfer car (buggy) - Google Patents
Heavy load AGV transfer car (buggy) Download PDFInfo
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- CN112694033A CN112694033A CN202011554123.1A CN202011554123A CN112694033A CN 112694033 A CN112694033 A CN 112694033A CN 202011554123 A CN202011554123 A CN 202011554123A CN 112694033 A CN112694033 A CN 112694033A
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- 238000012546 transfer Methods 0.000 title claims abstract description 39
- 239000000725 suspension Substances 0.000 claims description 42
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000009467 reduction Effects 0.000 description 13
- 238000006073 displacement reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
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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
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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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
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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
- B66F9/07568—Steering arrangements
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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
- B66F9/07572—Propulsion arrangements
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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
- B66F9/22—Hydraulic devices or systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a heavy-load AGV transfer vehicle which comprises a vehicle body, a control unit, a loading device, a first floating device, a second floating device and a driving assembly, wherein the vehicle body is of a frame structure, the control unit is arranged at the upper end of the vehicle body, the driving assembly is installed at the lower end of the vehicle body, the first floating device and the second floating device are respectively installed on two sides of the vehicle body, the first floating device and the second floating device are parallel to each other and are arranged opposite to the vehicle, the cross section of the vehicle body is of a U-shaped structure, and the loading device is installed inside the vehicle body. The heavy-load AGV transfer vehicle can effectively fork goods, input goods information and be provided with an anti-collision floating device, production safety is guaranteed, the two groups of driving modules ensure that each driving unit can rotate through differential speed, turning radius is not needed, turning can be realized in situ, and damage to a rotating wheel and a road surface is avoided.
Description
Technical Field
The invention belongs to the field of AGV transfer vehicles, and particularly relates to a heavy-load AGV transfer vehicle.
Background
The AGV transfer vehicle is a newly emerging automatic storage and transportation tool in recent years, can realize functions of unmanned goods forking, transferring, stacking and the like, needs a larger turning radius to finish a turning instruction due to larger load of the transfer vehicle, generates sex due to torsion if a turning wheel with a smaller turning radius and a road surface are too small, reduces the service life of a product, needs to judge the position of goods in order to ensure safety and stability, sends a deceleration instruction when the AGV transfer vehicle is close to goods to be forked, finishes forking of the goods in a low-speed state of the transfer vehicle, and simultaneously has the possibility of abnormal collision in the operation process of the transfer vehicle, and also needs a collision prevention mechanism to avoid possible damage and damages to people, facilities and the AGV transfer vehicle body, the existing collision prevention facilities mostly adopt signal transmission instructions such as a sensor and the like, and have extremely high requirements on environment and equipment, the reliability is poor, and mechanical structure's crashproof instruction transmission is rigid structure, and the instruction transmission is timely, and is low to the environmental requirement, and long service life.
Disclosure of Invention
In view of the above, the invention aims to provide a heavy-load AGV transfer vehicle to solve the problems that the turning radius of the transfer vehicle is large, an anti-collision device mostly adopts a motor element to transmit instructions, and the reliability is poor.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a heavy-load AGV transfer vehicle comprises a vehicle body, a control unit, a loading device, a first floating device, a second floating device and a driving assembly, wherein the vehicle body is of a frame structure, the control unit is arranged at the upper end of the vehicle body, the driving assembly is arranged at the lower end of the vehicle body, the first floating device and the second floating device are respectively arranged at two sides of the vehicle body, the first floating device and the second floating device are parallel to each other and are arranged opposite to the vehicle, the cross section of the vehicle body is of a U-shaped structure, the loading device is arranged in the vehicle body, the loading device comprises a portal lifting assembly, a fork assembly, a telescopic cylinder, a wire drawing assembly, an identification assembly, a judgment assembly and a plurality of pulleys, U-shaped sliding grooves are arranged on the inner walls of two sides of the U-shaped structure of the vehicle body, the lower end of the lifting assembly is respectively clamped into the two U-shaped sliding grooves through the plurality of pulleys, the fork assembly is arranged, the gantry lifting assembly is provided with a stay wire assembly, the fork assembly is provided with an identification assembly and a judgment assembly, and the gantry lifting assembly, the telescopic cylinder, the stay wire assembly, the identification assembly, the judgment assembly and the driving assembly are in signal connection with a controller in the control unit.
Furthermore, the stay wire assembly comprises a first stay wire encoder and a second stay wire encoder, the models of the first stay wire encoder and the second stay wire encoder are SICK _ BCG08, the peripheries of the first stay wire encoder and the second stay wire encoder are fixedly installed on the car body, in the U-shaped structure, the stay wire end of the first stay wire encoder is fixedly connected to one side of a forklift gantry of the gantry lifting assembly, the stay wire end of the second stay wire encoder is fixedly connected to the bottom end of a fork frame of the gantry lifting assembly, and the first stay wire encoder and the second stay wire encoder are connected to a controller in the control unit in a signal mode.
Furthermore, the first floating device and the second floating device have the same structure, the first floating device comprises a first support plate, a second support plate, a first connecting plate, a second connecting plate and a torsion spring, the first support plate and the second support plate are arranged in parallel, the first side of the first support plate is fixedly mounted on one side of the vehicle body, the first connecting plate and the second connecting plate are mounted between the first support plate and the second support plate, the first connecting plate and the second connecting plate are arranged in a cross mode, the middle of the first connecting plate and the middle of the second connecting plate are hinged through a rotating shaft, the torsion spring is arranged on the periphery of the rotating shaft, two ends of the torsion spring respectively abut against the first support plate and the second support plate, two ends of the first connecting plate are respectively hinged to the second side of the first support plate and the first side of the second support plate, and two ends of the second connecting plate are respectively hinged to the second side of the first support plate and the first side of the second support plate.
Furthermore, the driving assembly comprises a front driving assembly and a rear driving assembly, the front driving assembly comprises a first driving unit and a second driving unit, the rear driving assembly comprises a third driving unit, a fourth driving unit and a rear driving suspension, the upper end of the first driving unit and the upper end of the second driving unit are fixedly connected to the lower end of the vehicle body, the upper end of the third driving unit and the upper end of the fourth driving unit are fixedly connected to the lower end of the vehicle body through the rear driving suspension, and the first driving unit, the second driving unit, the third driving unit and the fourth driving unit are arranged in parallel and are all in signal connection with a controller in the control unit.
Furthermore, the first driving unit, the second driving unit, the third driving unit and the fourth driving unit have the same structure, the third driving unit comprises a turntable bearing and a fifth support plate, the upper end of the outer ring of the turntable bearing is fixedly connected to one end of the rear-drive suspension, the lower end of the inner ring of the turntable bearing is fixedly connected to the upper end of the fifth support plate, the two sixth support plates which are arranged in parallel are installed at the lower end of the fifth support plate, the two ends of the second deflection shaft are fixedly sleeved on the two fifth support plates respectively, the cross section of the second suspension beam is of an inverted U-shaped structure, the upper end of the second suspension beam is sleeved on the periphery of the second deflection shaft, the first driving module and the second driving module are installed on two side walls of the second suspension beam respectively, and the first driving module and the second driving module are arranged symmetrically.
Further, the first driving module and the second driving module are identical in structure, the first driving module comprises a speed reduction motor, a shaft sleeve seat and a rotating wheel, the periphery of the speed reduction motor is fixedly connected to one end of the shaft sleeve seat, the other end of the shaft sleeve seat is fixedly connected to the side wall of the second suspension beam, a transmission shaft of the speed reduction motor sequentially penetrates through the side walls of the shaft sleeve seat and the second suspension beam and then is fixedly connected to the middle of the rotating wheel, the speed reduction motor and the shaft sleeve seat are located inside the second suspension beam, and the speed reduction motor is connected to a controller in the control unit in a signal mode.
Compared with the prior art, the heavy-load AGV transfer vehicle has the following advantages:
(1) the heavy-load AGV transfer vehicle can effectively fork goods, input goods information and configure an anti-collision floating device, and production safety is guaranteed.
(2) According to the heavy-load AGV transfer vehicle, the sliding block in the floating device can convert the longitudinal displacement of the connecting rod into the transverse displacement to form the avoiding mechanism, so that the collision is avoided, meanwhile, the round corners of the two end faces of the second support plate are uniformly pressed downwards, the sliding contact of the part and an obstacle is ensured, the device is prevented from being damaged by hard contact, and the mechanical structure is stable, sensitive and durable.
(3) According to the heavy-load AGV transfer vehicle, if the second support plate contacts with an obstacle firstly and is uniformly compressed downwards when meeting a round angle of the second support plate of the obstacle, the first sliding at one end of the second connecting rod generates displacement, the detection assembly detects the displacement of the first sliding block and transmits a signal to the controller, the controller controls the driving assembly to stop advancing, the driving assembly waits for processing of workers, and the heavy-load AGV transfer vehicle is stable and reliable in structure and long in service life.
(4) According to the heavy-load AGV transfer vehicle, the arrangement of the first suspension beam and the second suspension beam ensures the height change of each rotating wheel, so that the AGV transfer vehicle is ensured to have good ground gripping force on a rugged road surface.
(5) According to the heavy-load AGV transfer vehicle, the two groups of driving modules are arranged, so that each driving unit can rotate through differential speed, turning radius is not needed, turning can be realized in situ, and damage to the rotating wheels and the road surface is avoided.
(6) According to the heavy-load AGV transfer vehicle, the driving module effectively utilizes the use space of the second suspension beam through the gear box, so that the two rotating wheels are positioned on the same axis, the rotating wheels rotate along the turntable bearing during differential turning, the torsion between the rotating wheels and the ground is reduced, the ground is not damaged, and the service life of the rotating wheels is ensured.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a heavy AGV transfer vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a loading device according to an embodiment of the present invention;
FIG. 3 is a front view of a loading device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first floating device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first sliding assembly according to an embodiment of the present invention;
FIG. 6 is a bottom view of a heavy AGV transfer vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a rear drive assembly according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a third driving unit according to an embodiment of the invention;
FIG. 9 is an exploded view of a bushing boss according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a first driving module according to an embodiment of the present invention.
Description of reference numerals:
1-a vehicle body; 2-a control unit; 3-a loading device; 31-a gantry lifting assembly; 32-a fork assembly; 33-a telescopic cylinder; 34-a pull wire assembly; 341-first pullwire encoder; 342-a second pullwire encoder; 35-an identification component; 36-a decision component; 37-a pulley; 4-a first floating device; 41-a first plate; 42-a second plate; 43-a first tie plate; 44-a second tie plate; 45-a first slide assembly; 451-third plate; 452-a fourth plate; 453-a first strut; 454-a first slider; 46-a first motor; 47-rope body; 48-a detection component; 5-a second floating device; 6, rear drive suspension; 61-a first axis of deflection; 62-a first suspension beam; 7-a third drive unit; 71-a turntable bearing; 72-fifth plate; 73-a sixth plate; 74-a second suspension beam; 75-a second yaw axis; 76-a first drive module; 761-reduction motor; 762-rotating wheels; 763-axle sleeve seat; 7631-shell; 7632-distance ring; 7633-first framework oil seal; 7634-first bearing; 7635-second bearing; 7636-second frame oil seal; 764-a gearbox; 77-a second drive module; 8-a fourth drive unit; 9-a first drive unit; 10-a second drive unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-10, a heavy-duty AGV transfer vehicle comprises a vehicle body 1, a control unit 2, a loading device 3, a first floating device 4, a second floating device 5 and a driving assembly, wherein the vehicle body 1 is a frame structure, the control unit 2 is arranged at the upper end of the vehicle body 1, the driving assembly is arranged at the lower end of the vehicle body 1, the first floating device 4 and the second floating device 5 are respectively arranged at two sides of the vehicle body 1, the first floating device 4 and the second floating device 5 are parallel to each other and are arranged opposite to the vehicle, the cross section of the vehicle body 1 is a U-shaped structure, the loading device 3 is arranged in the vehicle body 1, the loading device 3 comprises a portal lifting assembly 31, a fork assembly 32, a telescopic cylinder 33, a stay wire assembly 34, an identification assembly 35, a judgment assembly 36 and a plurality of pulleys 37, U-shaped chutes are arranged on the inner walls at two sides of the U-shaped structure of the vehicle body 1, the lower end of the, a fork assembly 32 is arranged on one side of a gantry lifting assembly 31, the other side of the gantry lifting assembly 31 is fixedly connected to the bottom of the U-shaped structure of the vehicle body 1 through a telescopic cylinder 33, the telescopic cylinder 33 is a DYTP parallel type electro-hydraulic push rod, a stay wire assembly 34 is arranged on the gantry lifting assembly 31, an identification assembly 35 and a judgment assembly 36 are respectively arranged on the fork assembly 32, the identification assembly 35 is a CLV503 code reader, a control unit 2 comprises a controller, the controller is a PLC, the model of the PLC is RKC-001, the judgment assembly 36 is an E3Z photoelectric sensor, the gantry lifting assembly 31, the telescopic cylinder 33, the stay wire assembly 34, the identification assembly 35, the judgment assembly 36 and a driving assembly are all in signal connection with the PLC, the cross section of the fork assembly 32 is of an L-shaped structure, one side of the fork assembly 32 is fixedly connected to one side of a fork frame of the gantry lifting assembly 31, and the gantry, the technical scheme includes that the lifting system of the forklift gantry can select and match a two-stage lifting gantry according to the use condition of the actual lifting height of goods, a PLC controls a driving assembly to move to a goods placing area, when an AGV transfer vehicle is close to goods and is ready to fork the goods, the PLC sends a deceleration instruction to enable the transfer vehicle to finish the fork taking of the goods in a low-speed state, a telescopic cylinder 33 is used for the transverse line displacement of a loading device, the principle is that a movable rod of the telescopic cylinder 33 pushes a gantry lifting assembly 31 to move along a U-shaped sliding groove through pulleys 37 arranged at two ends of the telescopic cylinder 33, a judging assembly 36 is used for monitoring whether the goods are ready to be taken, and an identifying assembly 35 is used for scanning two-dimensional codes of the goods and transmitting signals to the PLC for inputting goods information.
The wire pulling assembly 34 comprises a first wire pulling encoder 341 and a second wire pulling encoder 342, the types of the first wire pulling encoder 341 and the second wire pulling encoder 342 are SICK _ BCG08, the peripheries of the first wire pulling encoder 341 and the second wire pulling encoder 342 are fixedly installed in the U-shaped structure of the car body 1, the wire pulling end of the first wire pulling encoder 341 is fixedly connected to one side of a forklift gantry of the gantry lifting assembly 31, the wire pulling end of the second wire pulling encoder 342 is fixedly connected to the bottom end of a fork frame of the gantry lifting assembly 31, the first wire pulling encoder 341 and the second wire pulling encoder 342 are both in signal connection with the PLC, the wire end of the first wire pulling encoder 341 translates along the gantry lifting assembly 31, the first wire pulling encoder 341 transmits signals to the PLC to determine the distance of the gantry lifting assembly 31, and the second wire pulling encoder 342 is used for monitoring the information of vertical advancing of the fork assembly 32 and transmitting signals to the PLC.
The first floating device 4 and the second floating device 5 have the same structure, the first floating device 4 includes a first support plate 41, a second support plate 42, a first connecting plate 43, a second connecting plate 44 and a torsion spring, the first support plate 41 and the second support plate 42 are arranged in parallel, the first side of the first support plate 41 is fixedly mounted on one side of the vehicle body 1, the first connecting plate 43 and the second connecting plate 44 are mounted between the first support plate 41 and the second support plate 42, the first connecting plate 43 and the second connecting plate 44 are arranged in a cross manner, the middle of the first connecting plate 43 and the middle of the second connecting plate 44 are hinged through a rotating shaft, the torsion spring is arranged on the periphery of the rotating shaft, two ends of the torsion spring respectively contact the first support plate 41 and the second support plate 42, two ends of the first connecting plate 43 are respectively hinged to the second side of the first support plate 41 and the first side of the second support plate 42, and two ends of the second connecting plate 44 are respectively hinged to the second side of the first support plate 41, The fillets are formed in the first side of the second support plate 42 and the two ends of the second side of the second support plate 42, the middle portions of the first connecting plate 43 and the second connecting plate 44 are under the action of the elastic force of the torsion springs and are in a natural opening effect, when the vehicle body touches an obstacle, the fillets of the second support plate 42 are uniformly pressed downwards, sliding contact between the portions and the obstacle is guaranteed, and hard contact damage to the device is avoided.
The first floating device 4 further comprises a first sliding assembly 45 and a second sliding assembly which are identical in structure, wherein the first connecting plate 43 is hinged to a first side of the second support plate 42 through the second sliding assembly, the second connecting plate 44 is hinged to a second side of the first support plate 41 through the first sliding assembly 45, the first sliding assembly 45 comprises a third support plate 451, a fourth support plate 452, a first rod 453 and a first sliding block 454, the third support plate 451 and the fourth support plate 452 are arranged in parallel, one end of the third support plate 451 and one end of the fourth support plate 452 are fixedly connected to a second side of the first support plate 41, the first rod 453 is installed between the third support plate 451 and the fourth support plate 452, a first through hole is formed in the middle of the first sliding block 454, the periphery of the first support plate 453 is located in the first through hole, one end of the second support plate is hinged to the periphery of the first sliding block 454, when the second support plate 42 is pressed downwards, the first link 43 and the second link 44 are each provided with a slide assembly to ensure that longitudinal displacement is converted into transverse displacement, thereby forming an avoidance mechanism and avoiding being damaged by collision.
The first floating device 4 further includes a first motor 46, a rope 47 and a detecting assembly 48, the periphery of the first motor 46 is fixedly connected to the second side of the first supporting bar 453, the rope 47 is a steel wire rope having an outer diameter of not less than 5mm, one end of the rope 47 is fixedly connected to one side of the first connecting plate 43, the other end of the rope 47 is wound along the periphery of a transmission shaft of the first motor 46 and is fixedly connected to the periphery of the transmission shaft, the detecting assembly 48 is an E3Z photoelectric sensor, the detecting assembly 48 is fixedly mounted to the second side of the first supporting plate 41, the upper end of the detecting assembly 48 is located below the first slider 454, in order to automatically establish the width of the goods, an alignment sensor may be provided on the upper side of each second supporting plate 42 for monitoring the outer edge boundary of the goods and simultaneously transmitting signals to the PLC, both the first motor 46 and the detecting assembly 48 are signal-connected to the PLC, after the goods are loaded, the PLC controls the first motor 46 to rotate to carry out paying-off operation, the first connecting plate 43 and the second connecting plate 44 are continuously opened under the pressure of the torsion spring, if the opposite-jet sensor monitors the edge of the goods and signals are transmitted to the PLC in the process, the PLC controls the first motor to stop rotating, namely, the two second supporting plates 42 are both positioned at the edge of the goods, when the AGV transfer vehicle runs and encounters an obstacle, the round corners of the second supporting plates 42 firstly contact the obstacle and cause the second supporting plates 42 to be uniformly compressed downwards, the first sliding 454 at one end of the second connecting plate 44 is positioned, the detection assembly 48 detects the displacement of the first sliding block 454 and transmits the signals to the PLC, the PLC controls the driving assembly to stop running and wait for processing of workers, the structure is stable and reliable, and the service life is long.
The driving component comprises a front driving assembly and a rear driving assembly, the front driving assembly comprises a first driving unit 9 and a second driving unit 10, the rear driving assembly comprises a third driving unit 7, a fourth driving unit 8 and a rear driving suspension 6, the upper end of the first driving unit 9 and the upper end of the second driving unit 10 are both fixedly connected to the lower end of the vehicle body 1, the upper end of the third driving unit 7 and the upper end of the fourth driving unit 8 are both fixedly connected to the lower end of the vehicle body 1 through the rear driving suspension 6, the first driving unit 9, the second driving unit 10, the third driving unit 7 and the fourth driving unit 8 are all arranged in parallel and are all in signal connection with the PLC, the rear driving suspension 6 comprises a first deflection shaft 61 and a first suspension beam 62 sleeved on the periphery of the first deflection shaft 61, both ends of the first deflection shaft 61 are fixedly sleeved to the lower end of the vehicle body 1, both ends of the first suspension beam 62 are respectively provided with the third driving unit 7 and the fourth driving unit 8, the first suspension beam 62 is used to facilitate the change of elevation of the third drive unit 7 and the fourth drive unit 8, thereby ensuring that the AGV transfer trolley has good grip on an undulating road surface.
The first driving unit 9, the second driving unit 10, the third driving unit 7 and the fourth driving unit 8 are identical in structure, the third driving unit 7 comprises a turntable bearing 71, fifth support plates 72, sixth support plates 73, a second suspension beam 74, a second deflection shaft 75, a first driving module 76 and a second driving module 77, the upper end of the outer ring of the turntable bearing 71 is fixedly connected to one end of the first suspension beam 62, the lower end of the inner ring of the turntable bearing 71 is fixedly connected to the upper end of the fifth support plates 72, the lower ends of the fifth support plates 72 are provided with the two sixth support plates 73 which are arranged in parallel, the two ends of the second deflection shaft 75 are respectively fixedly sleeved with the two fifth support plates 72, the cross section of the second suspension beam 74 is of an inverted U-shaped structure, the upper end of the second suspension beam 74 is sleeved to the periphery of the second deflection shaft 75, the two side walls of the second suspension beam 74 are respectively provided with the first driving module 76 and the second driving module 77, the first driving module 76 and the second driving module 77 are symmetrically arranged, and the arrangement of the two groups of driving modules ensures that each driving unit can rotate through differential speed without turning radius, can realize turning in situ, and cannot damage the rotating wheels 762 and the road surface.
The first driving module 76 and the second driving module 77 have the same structure, the first driving module 76 includes a speed reduction motor 761, a shaft sleeve seat 763 and a rotating wheel 762, the periphery of the speed reduction motor 761 is fixedly connected to one end of the shaft sleeve seat 763, the other end of the shaft sleeve seat 763 is fixedly connected to a side wall of the second suspension beam 74, a transmission shaft of the speed reduction motor 761 sequentially passes through the shaft sleeve seat 763 and the side wall of the second suspension beam 74 and then is fixedly sleeved to the middle of the rotating wheel 762, the speed reduction motor 761 and the shaft sleeve seat 763 are both located inside the second suspension beam 74, and the speed reduction motor 761 is in signal connection with the PLC.
The shaft sleeve seat 763 comprises a housing 7631 and a distance ring 7632, a first bearing 7634, a second bearing 7635, a first framework oil seal 7633 and a second framework oil seal 7636 which are installed inside the housing 7631, the periphery of a speed reducing motor 761 is fixedly connected to one end of the housing 7631, the other end of the housing 7631 is fixedly connected to the side wall of the second suspension beam 74, the periphery of a transmission shaft of the speed reducing motor 761 is sleeved with the distance ring 7632, the first bearing 7634, the second bearing 7635, the first framework oil seal 7633 and the second framework oil seal 7636 respectively, two ends of the distance ring 7632 are in contact connection with one end of the first bearing 7634 and one end of the second bearing 7635 respectively, the first framework oil seal 7633 is installed at the other end of the first bearing 7634, the second framework oil seal 7636 is installed at the other end of the second extraction, the periphery of the first bearing 7634 and the periphery of the second bearing 7635 are sleeved on the inner wall of the housing 7631 respectively, the first bearing 7634 and the second bearing 76, a distance ring 7632 is added between the first bearing 7634 and the second bearing 7635 to increase the distance shaft, the distance ring 7632 mainly plays a role in making up for tolerance, and the problem of positioning accuracy of the first bearing 7634 and the second bearing 7635 is solved.
The first driving module 76 further includes a gear box 764, and a first gear, a second gear and a gear shaft disposed inside the gear box 764, wherein the reduction motor 761 is of the type SMH80, the outer periphery of the reduction motor 761 is fixedly connected to one side of the gear box 764, one end of the shaft sleeve seat 763 is fixedly connected to the other side of the gear box 764, the gear shaft is sleeved in the shaft sleeve seat 763, one end of the gear shaft is fixedly sleeved and connected to the middle part of the rotating wheel 762, the other end of the gear shaft is provided with a second gear, a transmission shaft of the speed reduction motor 761 is sleeved with the first gear, the first gear is meshed with the second gear, therefore, the use space of the second suspension beam 74 is effectively utilized, the two rotating wheels 762 are ensured to be positioned on the same axis, the rotation along the turntable bearing 71 during differential turning is ensured, the torsion between the rotating wheels 762 and the place is reduced, the ground is ensured not to be damaged, and the service life of the rotating wheels 762 is ensured.
A process for forking goods for a heavy-duty AGV transfer cart:
the AGV transfer vehicle is close to a cargo fork and is prepared for forking, the PLC sends a deceleration instruction to enable the transfer vehicle to complete forking of cargos in a low-speed state, the telescopic cylinder 33 is used for transverse line displacement of the loading device, the principle is that a movable rod of the telescopic cylinder 33 pushes the gantry lifting assembly 31 to advance along a U-shaped sliding groove through pulleys 37 arranged at two ends of the telescopic cylinder, a line end of the first stay wire encoder 341 translates along the gantry lifting assembly 31, the first stay wire encoder 341 transmits a signal to the PLC to determine the distance of the gantry lifting assembly 31, the judging assembly 36 is used for monitoring whether cargos are to be fetched, the identifying assembly 35 is used for scanning two-dimensional codes of cargos and transmitting the signal to the PLC for recording cargo information, and the second stay wire encoder 342 is used for monitoring information of vertical advancing of the fork assembly 32 and transmitting the signal to the PLC.
The utility model provides a heavy load AGV transfer car (buggy) anticollision process:
after the loaded goods are finished, the PLC controls the first motor 46 to rotate to carry out paying-off operation, the middle parts of the first connecting plate 43 and the second connecting plate 44 are simultaneously acted by the elastic force of the torsion spring and are in a natural opening effect, the first connecting plate 43 and the second connecting plate 44 are continuously opened under the pressure of the torsion spring, if the opposite-jet sensor monitors the edge of the goods and signals are transmitted to the PLC in the process, the PLC controls the first motor to stop rotating, namely the two second supporting plates 42 are both positioned at the boundary of the goods, when the AGV transfer vehicle runs and meets an obstacle, the round corners of the second supporting plates 42 firstly contact the obstacle and cause the second supporting plates 42 to be uniformly compressed downwards, the first sliding 454 at one end of the second connecting plate 44 is positioned, the detection component 48 detects the displacement of the first sliding block 454 and transmits the signals to the PLC, and the PLC controls the driving component to stop running and wait for the processing of workers.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. The utility model provides a heavy load AGV transfer car (buggy), its characterized in that: comprises a vehicle body (1), a control unit (2), a loading device (3), a first floating device (4), a second floating device (5) and a driving assembly, wherein the vehicle body (1) is of a frame structure, the control unit (2) is arranged at the upper end of the vehicle body (1), the driving assembly is arranged at the lower end of the vehicle body (1), the first floating device (4) and the second floating device (5) are respectively arranged at two sides of the vehicle body (1), the first floating device (4) and the second floating device (5) are parallel to each other and are arranged opposite to the vehicle, the cross section of the vehicle body (1) is of a U-shaped structure, the loading device (3) is arranged inside the vehicle body (1), the loading device (3) comprises a portal lifting assembly (31), a fork assembly (32), a telescopic cylinder (33), a stay wire assembly (34), an identification assembly (35), a judgment assembly (36) and a plurality of pulleys (37), and U-shaped chutes are arranged on the inner walls at, the lower extreme that portal played to rise subassembly (31) is blocked to two respectively through a plurality of pulleys (37) in the U-shaped spout, portal played to rise subassembly (31) a side-mounting fork subassembly (32), and the opposite side that portal played to rise subassembly (31) passes through telescopic cylinder (33) fixed connection to automobile body (1) U-shaped structure bottom, portal play to rise subassembly (31) and go up installation stay wire subassembly (34), install respectively on fork subassembly (32) and discern subassembly (35) and judge subassembly (36), portal play to rise subassembly (31), telescopic cylinder (33), stay wire subassembly (34), discern subassembly (35), judge the controller in subassembly (36) and the equal signal connection of drive assembly to the control unit (2).
2. A heavy loaded AGV transport vehicle according to claim 1 and further characterized in that: the stay wire assembly (34) comprises a first stay wire encoder (341) and a second stay wire encoder (342), the peripheries of the first stay wire encoder (341) and the second stay wire encoder (342) are fixedly installed on the car body (1) in the U-shaped structure, the stay wire end of the first stay wire encoder (341) is fixedly connected to one side of a forklift gantry of the gantry lifting assembly (31), the stay wire end of the second stay wire encoder (342) is fixedly connected to the bottom end of a fork frame of the gantry lifting assembly (31), and the first stay wire encoder (341) and the second stay wire encoder (342) are in signal connection with a controller in the control unit (2).
3. A heavy loaded AGV transport vehicle according to claim 1 and further characterized in that: the structure of the first floating device (4) is the same as that of the second floating device (5), the first floating device (4) comprises a first support plate (41), a second support plate (42), a first connecting plate (43), a second connecting plate (44) and a torsion spring, one side of the second support plate (42) is fixedly connected to the second side of the first support plate (41) through the first connecting plate (43) and the second connecting plate (44), the first side of the first support plate (41) is fixedly installed on one side of the vehicle body (1), the first connecting plate (43) and the second connecting plate (44) are arranged in a cross mode, the middle of the first connecting plate (43) and the middle of the second connecting plate (44) are hinged through a rotating shaft, the periphery of the rotating shaft is sleeved with the torsion spring, and two ends of the torsion spring are respectively abutted to one side of the first support plate (41) and one side of the second support plate (42).
4. A heavy loaded AGV transport vehicle according to claim 1 and further characterized in that: the driving assembly comprises a first driving unit (9), a second driving unit (10), a third driving unit (7), a fourth driving unit (8) and a rear-drive suspension (6), the upper end of the first driving unit (9) and the upper end of the second driving unit (10) are fixedly connected to the lower end of the vehicle body (1), and the upper end of the third driving unit (7) and the upper end of the fourth driving unit (8) are fixedly connected to the lower end of the vehicle body (1) through the rear-drive suspension (6).
5. A heavy loaded AGV transfer vehicle according to claim 4 further comprising: the structure of the first driving unit (9), the structure of the second driving unit (10), the structure of the third driving unit (7) and the structure of the fourth driving unit (8) are the same, the third driving unit (7) comprises a turntable bearing (71), a fifth support plate (72), a sixth support plate (73), a second suspension beam (74), a second deflection shaft (75), a first driving module (76) and a second driving module (77), the upper end of the outer ring of the turntable bearing (71) is fixedly connected to one end of the rear-drive suspension (6), the lower end of the inner ring of the turntable bearing (71) is fixedly connected to the upper end of the fifth support plate (72), the lower end of the fifth support plate (72) is provided with two sixth support plates (73) which are arranged in parallel, the two ends of the second suspension shaft (75) are respectively and fixedly sleeved to the two fifth support plates (72), the cross section of the second suspension beam (74) is of an inverted U-shaped structure, and the upper end of the second suspension beam (74) is sleeved to the periphery of the second, a first driving module (76) and a second driving module (77) are respectively installed on two side walls of the second suspension beam (74), and the first driving module (76) and the second driving module (77) are symmetrically arranged.
6. A heavy loaded AGV transfer vehicle according to claim 5 further comprising: the structure of the first driving module (76) is the same as that of the second driving module (77), the first driving module (76) comprises a speed reducing motor (761), a shaft sleeve seat (763) and a rotating wheel (762), the periphery of the speed reducing motor (761) is fixedly connected to one end of the shaft sleeve seat (763), the other end of the shaft sleeve seat (763) is fixedly connected to the side wall of the second suspension beam (74), a transmission shaft of the speed reducing motor (761) sequentially penetrates through the shaft sleeve seat (763) and the side wall of the second suspension beam (74) and then is fixedly sleeved on the middle of the rotating wheel (762), the speed reducing motor (761) and the shaft sleeve seat (763) are both located inside the second suspension beam (74), and the speed reducing motor (761) is in signal connection with a controller in the control unit (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011554123.1A CN112694033B (en) | 2020-12-24 | 2020-12-24 | Heavy load AGV transfer car (buggy) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011554123.1A CN112694033B (en) | 2020-12-24 | 2020-12-24 | Heavy load AGV transfer car (buggy) |
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| CN112694033A true CN112694033A (en) | 2021-04-23 |
| CN112694033B CN112694033B (en) | 2024-07-05 |
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| CN112694033B (en) | 2024-07-05 |
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