CN114644042B

CN114644042B - Universal movable AGV trolley

Info

Publication number: CN114644042B
Application number: CN202210323518.3A
Authority: CN
Inventors: 周俊; 莫泉湖; 李思俊
Original assignee: Sichuan Guoruan Technology Group Co Ltd
Current assignee: Sichuan Guoruan Technology Group Co Ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2023-09-08
Anticipated expiration: 2042-03-29
Also published as: CN114644042A

Abstract

The application belongs to the field of maintenance, and particularly relates to a universal mobile AGV. The device comprises a frame and a universal driving device, wherein the universal driving device is arranged at the bottom end of the frame; the universal driving device comprises a connecting part, a mounting part and a driving mechanism, wherein the connecting part is fixedly connected with the frame and is rotatably connected with the mounting part, the driving mechanism is mounted on the mounting part and comprises a driver and two movable wheels symmetrically arranged on the mounting part, the driver is in transmission connection with the movable wheels, and the two movable wheels can rotate at different speeds and directions respectively and independently. The application provides a universal mobile AGV trolley, and aims to solve the steering problem of the existing AGV trolley in a narrow space.

Description

Universal movable AGV trolley

Technical Field

The application belongs to the field of maintenance, and particularly relates to a universal mobile AGV.

Background

The wheel pair is the part of the rolling stock contacted with the steel rail and is formed by firmly pressing the left wheel and the right wheel on the same axle. The wheel set has the functions of ensuring the running and steering of the rolling stock on the steel rail, bearing all static and dynamic loads from the rolling stock, transmitting the static and dynamic loads to the steel rail and transmitting the loads generated by unsmooth lines to all parts of the rolling stock.

The bogie is one of the most important parts in the structure of a railway vehicle and mainly comprises two wheel pairs arranged in a front-to-back manner and a fixing frame for connecting the two wheel pairs.

In the maintenance process of the wheel set or the bogie, the wheel set or the bogie needs to be moved at different processing stations, so that different processing of the wheel set or the bogie is realized. When the wheel set or truck is moving, the wheel set or truck needs to be pulled by the AGV trolley because the wheel set or truck itself is not powered.

Existing drive mechanisms typically include wheels disposed at the four corners of the bottom of the GAV cart and a drive that rotates the wheels. When the AGV car turns, the wheels at the bottom in front of the GAV car can turn, so that the AGV car turns. But the turning radius of current AGV dolly is big, needs great turning space, and the AGV dolly often works in the workshop to the structure in the workshop is comparatively complicated. Thus, when the AGV arrives in some narrower areas, the AGV may become stuck or turn very difficult.

Disclosure of Invention

The application provides a universal mobile AGV trolley, and aims to solve the steering problem of the existing AGV trolley in a narrow space.

In order to achieve the above purpose, the application provides a universal mobile AGV trolley, which comprises a frame and a universal driving device, wherein the universal driving device is arranged at the bottom end of the frame;

the universal driving device comprises a connecting part, a mounting part and a driving mechanism, wherein the connecting part is fixedly connected with the frame and is rotatably connected with the mounting part, the driving mechanism is mounted on the mounting part and comprises a driver and two movable wheels symmetrically arranged on the mounting part, the driver is in transmission connection with the movable wheels, and the two movable wheels can rotate at different speeds and directions respectively and independently.

Through the universal drive arrangement of bottom installation at the AGV dolly, after the AGV dolly enters into narrow space, the movable wheel of both sides in the installation component can rotate according to different directions, perhaps rotate according to same direction but different speeds to just make the AGV dolly turn to (90 lateral shifting even), avoid the AGV dolly to catch, the efficiency that turns to simultaneously is also higher.

Further, in order to realize that the moving wheels on two sides are respectively driven, two drivers are arranged in the scheme and are respectively connected with the moving wheels in a transmission way. The two drivers can respectively drive the movable wheels connected with the drivers to rotate according to different directions or different speeds.

Further, in order to solve the problem that the moving wheel jolts when moving, the driving mechanism further comprises a buffer structure, and the buffer structure is used for buffering and damping the moving wheel.

Further, the buffer structure comprises a supporting part, a buffer elastic piece and a buffer supporting piece, the moving wheel is installed on the supporting part, the buffer elastic piece and the buffer supporting piece are mutually correspondingly installed on the supporting part and the installation part, the buffer supporting piece is used for being mutually matched with the buffer elastic piece and limiting, and the buffer elastic piece is used for being deformed along with the movement of the supporting part.

Further, the mounting component and the connecting component are connected with a locking assembly, and the locking assembly is used for locking the mounting component and the connecting component so that the mounting component and the connecting component can not rotate in opposite directions;

in order to achieve a rotatable connection of the connecting part and the mounting part in this solution. In the scheme, the connecting part and the mounting part are rotatably connected through a bearing;

the rotatable connection is achieved by means of bearings, which may result in less friction between the mounting part and the connecting part.

Further, in this scheme the locking mechanism includes electromagnetic clutch and mating component, electromagnetic clutch and mating component mutually support install in installation component and connecting piece, electromagnetic clutch is used for holding tightly mating component and releasing.

In this scheme electromagnetic clutch and mating parts are installed in mounting part and connecting part respectively corresponding each other. When the electromagnetic clutch holds the matching part tightly, the mounting part and the connecting part are connected together, and the mounting part and the connecting part can not rotate any more; when the electromagnetic clutch releases the mating member, rotation is effected between the mounting member and the connecting member.

Further, the scheme also comprises a controller, wherein the controller is connected with the driver and the locking component.

Through setting up the controller, then the controller can control the driver and drive the removal wheel and rotate according to different directions and different speeds, and then realize the removal and the turning to the installation component. And meanwhile, the locking assembly is connected with the controller, and the locking assembly can rotate the mounting part after the mounting part rotates to a preset angle, so that the mounting part is prevented from rotating during linear motion.

Further, in order to enable the wheel set or the bogie to be driven in motion, the frame is also connected with a lifting mechanism in the scheme, and the lifting mechanism is used for being connected with the wheel set or the bogie.

When the lifting mechanism lifts the wheel set or the bogie, the driving mechanism can move, so that the wheel set or the bogie can move.

Further, the lifting mechanism in this scheme include lifting unit, installation component and riser, lifting unit passes through installation component and links to each other with the riser, lifting unit is used for holding wheel pair or bogie, the riser is used for driving lifting unit and goes up and down.

When the lifting part is connected with the wheel set or the bogie, the lifter can drive the lifting part to lift, so that the wheel set or the bogie is lifted. When the wheel set or the bogie reaches a preset position, the lifter can drive the lifting component to descend, so that the wheel set or the bogie is put down.

Further, in order to make the frame more stable in this scheme, in this scheme the frame includes extension, extension follow elevating system and the junction of frame outwards extend.

In this scheme be provided with extension on the frame, elevating system also installs in the frame simultaneously. Therefore, when the lifting mechanism lifts the wheel set or the bogie upwards, the extending part on the frame can support the lifting mechanism, so that the frame is prevented from being lifted.

The application has the beneficial effects that: in the scheme, the universal driving device is arranged on the frame and can be used for driving the frame to move. Simultaneously, the moving wheels on two sides can move forwards, turn to and move transversely by 90 degrees to the AGV through different rotation directions and rotation speeds, so that the AGV can be flexibly moved in a narrow space, and the AGV is prevented from being trapped.

Drawings

FIG. 1 is a schematic diagram of a structure of a gimbaled mobile AGV.

Fig. 2 is a schematic structural view of the universal driving device.

Fig. 3 is a schematic structural view of the driving assembly.

Fig. 4 is a schematic structural view of the lifting mechanism.

Fig. 5 is a side view of the lifting mechanism.

FIG. 6 is a schematic view of an AGV cart before steering.

FIG. 7 is a schematic view of the AGV after steering.

The reference numerals include: the vehicle frame 1, the universal driving device 2, the connecting member 21, the mounting member 22, the driving mechanism 23, the moving wheel 231, the driver 232, the buffer structure 233, the locking assembly 24, the bearing 25, the lifting mechanism 3, the connecting frame 31, the lifting member 32, and the lifter 33.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the examples more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The embodiment is basically as shown in figures 1 to 7, and the universal mobile AGV comprises a frame 1 and a universal driving device 2, wherein the frame 1 is a metal frame, and the universal driving device 2 is arranged at the bottom end of the frame 1. The universal driving device is used for driving the frame 1 to steer and move.

The universal driving device 2 in this embodiment includes a connecting member 21 and a mounting member 22, the connecting member 21 being mounted above the mounting member 22. The connection member 21 is fixedly connected to the frame 1, specifically, by bolts or the like. The connecting part 21 and the mounting part 22 are rotatably connected, and the connecting part 21 and the mounting part 22 can rotate.

The mounting member 22 is provided with a driving mechanism which can drive the mounting member 22 and the connecting member 21 to move. The driving mechanism can also provide rotation power for the mounting part 22, so that the mounting part 22 can rotate relative to the connecting part 21. In this embodiment, through setting up actuating mechanism to make the AGV dolly can remove, still possess simultaneously and had the function of turning to in narrow region universally.

The driving mechanism 23 in this embodiment specifically includes a moving wheel 231 and a driver 232. The moving wheels 231 are installed at both left and right sides of the installation member. The driver 232 may be a drive motor, with the drive wheel being directly connected to the drive motor. When the driving motor rotates, the moving wheel 231 is driven to rotate. The moving wheels on the two sides are respectively connected with a driver, and the moving wheels on the two sides can be respectively driven by the drivers on the two sides to rotate, so that the moving wheels on the two sides can respectively move according to different speeds and directions.

It should be noted that: when the moving wheels at the two sides rotate in the same direction and at the same speed, the mounting part can perform linear motion, so that the AGV trolley moves; when the moving wheels at the two sides rotate in the same direction but at different speeds, the mounting part can rotate, so that the mounting part drives the AGV trolley to move towards the other direction; when the moving wheels on the two sides rotate in different directions, the mounting part can rotate, so that the mounting part drives the AGV trolley to move transversely towards 90 degrees. ( For example: when the rotation direction of the left moving wheel 231 is the same as that of the right moving wheel 231 and the rotation speed of the left moving wheel 231 is equal to that of the right moving wheel 231, the AGV trolley moves linearly; when the left moving wheel 231 and the right moving wheel 231 rotate in the same direction, but the rotation speed of the left moving wheel 231 is greater than that of the right moving wheel 231, the AGV trolley can move in a direction deviating from the linear motion; when the left moving wheel 231 and the right moving wheel 231 rotate in opposite directions, the AGV trolley can move transversely by 90 degrees )

It should be noted that: in this embodiment, the driving motors are disposed on the moving wheels 231 on both sides, so that the moving wheels 231 on both sides can rotate in different directions and sizes. However, the moving wheels 231 on both sides may be adjusted to rotate in different directions and sizes in other manners. For example: the two movable wheels 231 can be connected with the same driving motor through the adjusting mechanism, so that the two movable wheels 231 can rotate in different directions and at different speeds, and the adjusting mechanism can be a differential mechanism.

In this embodiment, universal wheels are further respectively disposed at the front and rear ends of the frame 1, and the universal wheels are used for supporting the front and rear ends of the frame 1. When the universal driving device 2 drives the AGV trolley to steer, the universal wheels can support the front end and the rear end of the frame 1, and the universal wheels can steer the frame 1 to steer.

The driving mechanism 23 in the present embodiment further includes a buffer structure 233, and the buffer structure 233 is installed between the moving wheel 231 and the mounting member 22 for buffer supporting the moving wheel 231.

The buffer structure 233 specifically includes a support member, a buffer elastic member, and a buffer support member. The supporting member has a plate shape for mounting the driving motor and the moving wheel 231. The support component is connected with one end of the buffering elastic piece, the buffering support piece is installed on the support component, and the buffering support piece is connected with the other end of the buffering elastic piece. The buffer support serves to limit the buffer elastic member, and the buffer elastic member can be compressed and restored with the up-and-down movement of the moving wheel 231.

The buffer elastic member in this embodiment may be a buffer spring or an elastic member. The buffer support piece is a cylindrical support column, and a limiting part is arranged at the tail end of the support column. The buffer spring can be sleeved on the surface of the support column, and meanwhile, the buffer spring is located between the limiting part and the support part.

In this scheme, the support member is rotatably connected to the mounting member 22 through a rotation shaft, and the support member can rotate around the mounting member 22. The support column is also rotatably mounted to the mounting member 22 by a shaft.

When the moving wheel 231 passes over a bumpy road, the supporting member rotates due to the bumpiness. When the supporting component rotates, the supporting component can drive the buffer spring to compress, so that the supporting component moves more stably. Meanwhile, in order to prevent the supporting component from being clamped and scratched by the supporting column during rotation, the supporting column is rotatably arranged in the embodiment.

In addition to rotatably mounting the support posts and support members, the support posts may be fixedly mounted to the mounting member 22 with the support posts on opposite sides of the mounting member 22. When the supporting part moves due to jolt, the supporting part moves up and down, and then the buffer spring is driven to move up and down, so that the supporting part moves more stably.

In this embodiment, the mounting member 22 and the connecting member 21 may be rotatably connected by the bearing 25, so that the friction between the mounting member 22 and the connecting member 21 is smaller, and the rotation is more stable.

Or may be rotatably connected between the connecting member 21 and the mounting member 22 through a slide groove. The chute may be provided in the connecting member 21 or may be provided in the connecting member 21.

In this embodiment, a locking mechanism is further disposed between the connecting member 21 and the mounting member 22, and the locking mechanism is used for locking the mounting member 22, so that the mounting member 22 and the connecting member 21 can not rotate any more.

The locking mechanism in this embodiment includes an electromagnetic clutch and a mating component. The electromagnetic clutch and the mating member are mounted in mating relation to each other. The electromagnetic clutch may hug the mating member so that the mounting member 22 and the connecting member 21 are connected together. Alternatively, the electromagnetic clutch may release the mating member so that the mounting member 22 and the connecting member 21 may rotate toward each other.

The mating component in this embodiment is specifically a locking post. A locking post may be provided at a middle portion of the mounting part 22 or the connection part 21, and one end of the locking post is engaged with the electromagnetic clutch.

It should be noted that: in the present embodiment, if the fitting member is provided at the mounting member 22, the electromagnetic clutch needs to be provided at the connecting member 21. In the present embodiment, if the fitting member is provided at the connection member 21, the electromagnetic clutch needs to be provided at the mounting member 22.

The lifting mechanism 3 is further included in this embodiment, and the lifting mechanism 3 is used to cooperate with the wheel set or the bogie, so that the wheel set or the bogie is in a suspended state.

The lifting mechanism 3 in this embodiment specifically includes a lifting member 32, a link frame 31, and a lifter 33. The lifting member 32 in this embodiment is adapted to cooperate with the wheel set or truck to thereby connect the wheel set or truck to the connecting member 21. The lifting member 32 is connected to the lifter 33 through the link 31, and when the lifter 33 is lifted up and down, the lifting member 32 can be lifted up and down by the transmission of the link 31. Further, since the lifting member 32 is connected to the wheel set or the bogie, the wheel set or the bogie can be lifted up and down when the lifter 33 is lifted up and down.

The lifter 33 is a screw lifter in the present embodiment, but the lifter 33 may be provided as a lifting cylinder, a linear lifting module, or the like.

The lifting member 32 in this embodiment is specifically a lifting hook, and the lifting hook is used to hook the wheel axle of the wheel set or the bogie, so that the wheel set or the steering machine can lift along with the lifting hook.

In this embodiment, the lifting hooks are disposed on the left and right sides of the connecting frame 31, and both sides of the wheel set or the bogie can be hooked by the lifting hooks.

It should be noted that: the lifting hook in this embodiment can hook the axle of a wheel set. When the device is matched with the bogie, the device can lift one wheel pair in the bogie. When the device is required to be used for lifting the bogie, a lifting device can be arranged at the front and rear wheel sets of the bogie to be matched with the bogie, so that the front and rear ends of the bogie can be lifted finally.

Meanwhile, in the embodiment, a limiting part is further arranged at the tail end of the lifting hook, the whole limiting part is made of rubber or plastic, and the limiting part comprises a containing groove. When the limiting part is contacted with the wheel shaft of the wheel set or the bogie, the wheel shaft of the wheel set or the bogie is positioned in the accommodating groove, and the wheel set or the bogie is limited by the limiting part.

In this embodiment, an inductor is disposed between the lifting hooks on both sides. The sensor can be a ranging sensor or a photoelectric sensor. When the wheel set or the wheel axle of the bogie is located above the lifting hook, it is sensed by the sensor. So that the lifting hook can smoothly lift the wheel set or the bogie.

The sensor is connected with the controller. When the controller receives the induction signal of the inductor, the controller can control the lifting hook to lift or descend. In addition, the driving motors are respectively connected with the controller, so that the controller can respectively control the driving motors, thereby achieving the purpose of respectively and independently controlling the rotating speed and the steering of each movable wheel 231, and through the cooperation of the two movable wheels 231, the AGV trolley not only can realize the straight-line forward movement, the straight-line backward movement and the turning of various turning radiuses (realize various turning radiuses through controlling the rotating speed difference of the two movable wheels 231), but also can realize the in-situ turning function without turning radiuses, and especially can realize the 90-degree transverse movement. The controller is also connected with the electromagnetic clutch and is used for controlling whether the electromagnetic clutch tightly holds the locking column or not so that when the mounting part 22 rotates to a set position relative to the frame, the electromagnetic clutch can tightly hold the locking column, the purpose of locking the mounting part 22 and the frame is achieved, the mounting part 22 can be ensured to stand relative to the frame, and the mounting part 22 is prevented from rotating when the AGV trolley moves.

The connecting frame 31 in this embodiment includes a guide portion and a moving portion. The guide part specifically comprises two guide posts which are vertically arranged and a connecting plate which is connected with the two guide posts. The moving part is specifically a rectangular frame. The moving part is mounted to the guide part, and the moving part can move up and down in the guide part. The lifter 33 is mounted to the guide portion in this embodiment, and is connected to the moving portion. When the lifter 33 is lifted, the moving portion can move up and down on the guide portion.

Meanwhile, in order to avoid friction between the moving part and the guiding part when the moving part moves on the guiding part, a limiting wheel is arranged between the guiding part and the moving part. The limiting wheel is fixedly arranged on the moving part and simultaneously contacts with the guiding part. In addition to the problem of friction prevention, the limiting wheel in this embodiment can also limit the moving part, so that the moving part can stably lift along the setting direction of the guiding part.

In this embodiment, the upper and lower ends of the guiding portion are respectively provided with a positioning sensor, which is specifically a proximity switch, and the moving portion is provided with an induction portion to cooperate with the proximity switch. When the moving part moves to the upper end or the lower end of the guiding part, the sensing part on the moving part is matched with the proximity switch at the upper end or the lower end respectively, so that the position of the moving part is determined.

In this embodiment, the frame 1 is provided with an extension portion, and the extension portion extends outwards from the connection portion between the lifting mechanism 3 and the frame 1. Therefore, when the lifting mechanism 3 lifts the wheel set or the bogie, the extending part of the frame 1 can support the wheel set or the bogie, so that the wheel set or the bogie cannot turn over the frame 1.

The foregoing is merely exemplary embodiments of the present application, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.

Claims

1. The utility model provides a universal portable AGV dolly which characterized in that: the vehicle comprises a vehicle frame (1) and a universal driving device (2), wherein the universal driving device (2) is arranged at the bottom end of the vehicle frame (1);

the universal driving device (2) comprises a connecting part (21), a mounting part (22) and a driving mechanism (23), wherein the connecting part (21) is fixedly connected with the frame (1) and is rotatably connected with the mounting part (22), the driving mechanism is mounted on the mounting part (22), the driving mechanism comprises a driver (232) and two moving wheels (231) symmetrically arranged on the mounting part (22), and the driver (232) can respectively drive the moving wheels (231) to move;

the frame (1) is also connected with a lifting mechanism (3), the lifting mechanism (3) is used for being connected with a wheel set or a bogie, the lifting mechanism (3) comprises a connecting frame (31), a lifting component (32) and a lifter (33), the lifter (33) is connected with the lifting component (32) through the connecting frame (31), the lifting component (32) is used for supporting the wheel set or the bogie, the lifter (33) is used for driving the lifting component (32) to lift, the lifting component (32) is a lifting hook, and the lifting hook is used for hooking a wheel shaft of the wheel set or the bogie;

the frame (1) comprises an extension part, the extension part extends outwards from the joint of the lifting mechanism (3) and the frame (1) so that the frame (1) is in a shape like a Chinese character 'ji', universal wheels are respectively arranged at the front end and the rear end of the frame (1), and the universal wheels are used for supporting the front end and the rear end of the frame (1);

the driving mechanism (23) further comprises a buffer structure (233), the buffer structure (233) is arranged between the moving wheel (231) and the mounting part (22), the buffer structure (233) comprises a supporting part, a buffer elastic piece and a buffer supporting piece, the moving wheel (231) is mounted on the supporting part, the buffer elastic piece and the buffer supporting piece are correspondingly mounted on the supporting part and the mounting part (22), the buffer supporting piece is used for being mutually matched with and limited by the buffer elastic piece, and the buffer elastic piece is used for being deformed along with the movement of the supporting part; the buffer support piece is a cylindrical support column, and the tail end of the support column is provided with a limiting part; the buffer elastic piece is a buffer spring, the buffer spring is sleeved on the surface of the support column, and meanwhile, the buffer spring is located between the limiting part and the support part.

2. The universal mobile AGV cart of claim 1 wherein: the number of the drivers is two, and the drivers are respectively connected with the moving wheels in a transmission way.

3. The universal mobile AGV cart of claim 1 wherein: the mounting component (22) and the connecting component (21) are connected with a locking assembly (24), and the locking assembly (24) is used for locking the mounting component (22) and the connecting component (21) so that the mounting component (22) and the connecting component (21) can not rotate in opposite directions;

the mounting part (22) is rotatably connected with the connecting part (21) through a bearing (25).

4. A gimbaled mobile AGV trolley according to claim 3, wherein: the locking assembly (24) comprises an electromagnetic clutch and a matching component, the electromagnetic clutch and the matching component are mutually matched and installed on the installation component (22) and the connecting component (21), and the electromagnetic clutch is used for tightly holding and releasing the matching component.

5. A gimbaled mobile AGV trolley according to claim 3, wherein: and a controller connected with the driver (232) and the locking assembly (24), wherein the controller is used for controlling the driver to drive the moving wheel (231) and controlling the locking assembly (24) to lock the mounting component (22).