CN115043353A - Rotatable formula automatic guide car that dives - Google Patents
Rotatable formula automatic guide car that dives Download PDFInfo
- Publication number
- CN115043353A CN115043353A CN202110255900.0A CN202110255900A CN115043353A CN 115043353 A CN115043353 A CN 115043353A CN 202110255900 A CN202110255900 A CN 202110255900A CN 115043353 A CN115043353 A CN 115043353A
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- China
- Prior art keywords
- frame
- lifting
- rotatable
- hinged
- front frame
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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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- 230000001360 synchronised effect Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000009189 diving Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013068 supply chain management Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- 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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention belongs to the technical field of logistics transportation, and particularly relates to a rotatable submerged automatic guide vehicle. The lifting device is arranged on the upper portion of the rack, the rotary driving device is arranged on the lifting device, and the tray is arranged on the rotary driving device. The frame comprises a front frame and a rear frame hinged with the front frame; the driving wheel is positioned between the front frame and the rear frame and is arranged on the front frame or the rear frame; the bottom of the front frame and the bottom of the rear frame are provided with follow-up wheels. The invention can make the positive pressure needed by the driving system provided by the carried material according to the specific use condition of the storage transportation system and the self mechanism factor, reduce the self weight to the minimum, improve the energy utilization rate and meet the transportation requirement of the material.
Description
Technical Field
The invention belongs to the technical field of logistics transportation, and particularly relates to a rotatable submerged automatic guide vehicle.
Background
With the increasing competition in the domestic B2C market, supply chain management capabilities are becoming a core competitiveness. More and more electricity merchant, mill's warehouse system constantly promote to warehouse transport system's automation level and efficiency, and the fault rate of equipment constantly reduces and the requirement of convenient maintenance is higher and higher, also provides higher requirement to using production efficiency, automation level, the stability of goods shelves transport AGV at warehouse transport line.
AGV travel drive systems require the addition of a sufficient positive pressure on the drive wheels. The existing structure generates the force by a spring, and meanwhile, the self weight of the AGV is larger than the force so that the AGV is not overturned. This results in an extremely high AGV weight, which causes a great waste of energy during operation and also causes damage to the ground environment.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a rotatable submersible automatic guided vehicle, which can provide a positive pressure required by a driving system of the guided vehicle by the carried materials according to the specific use condition of a storage transportation system and the mechanism factors of the guided vehicle, so as to minimize the self-weight, improve the energy utilization rate, and meet the transportation requirements of the materials.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rotatable submerged automatic guide vehicle comprises a rack, driving wheels, follow-up wheels, a lifting device, a rotary driving device and a tray, wherein the driving wheels and the follow-up wheels are arranged at the bottom of the rack, the lifting device is arranged at the upper part of the rack, the rotary driving device is arranged on the lifting device, and the tray is arranged on the rotary driving device.
The frame comprises a front frame and a rear frame hinged with the front frame;
the driving wheel is positioned between the front frame and the rear frame and is arranged on the front frame or the rear frame;
the bottom of the front frame and the bottom of the rear frame are provided with the following wheels.
The lifting device comprises a lifting driving system, an upper connecting rod rack and two groups of connecting rod supporting systems, wherein the two groups of connecting rod supporting systems are symmetrically arranged on the rack, and the upper ends of the two groups of connecting rod supporting systems are connected with the upper connecting rod rack;
the lifting driving system is arranged on the rack, and the output end of the lifting driving system is connected with the upper connecting rod rack;
the rotary driving device is arranged on the upper connecting rod rack.
The connecting rod supporting system comprises a parallel four-bar linkage mechanism and two upper connecting rods, wherein the parallel four-bar linkage mechanism is arranged on the rack;
the lower ends of the two upper connecting rods are hinged with the four-bar linkage mechanism, and the upper ends of the two upper connecting rods are hinged with the upper connecting rod rack.
The parallel four-bar linkage mechanism comprises a middle connecting bar, a lower connecting bar and two hinge seats; the two hinge seats are respectively arranged on the front rack and the rear rack, the lower ends of the two lower connecting rods are respectively hinged with the two hinge seats, and the two ends of the middle connecting rod are respectively hinged with the upper ends of the two lower connecting rods;
the upper ends of the two lower connecting rods are respectively hinged with the lower ends of the two upper connecting rods.
The lifting driving system comprises a lifting driving motor, a guide rail sliding block seat, a linear guide rail, a lifting connecting plate, a ball screw and a nut seat, wherein the linear guide rail and the ball screw are arranged on the guide rail sliding block seat along the vertical direction, and the ball screw can rotate;
the lifting connecting plate is connected with the linear guide rail in a sliding manner, and the nut seat is arranged on the lifting connecting plate and is in threaded connection with the ball screw;
the lifting driving motor is arranged on the guide rail sliding block seat, and the output end of the lifting driving motor is connected with the ball screw through the transmission mechanism.
The transmission mechanism comprises a synchronous belt, a tension pulley and two synchronous belt wheels, wherein the two synchronous belt wheels are respectively arranged on the output end of the lifting driving motor and the ball screw and are in transmission connection through the synchronous belt;
the take-up pulley rotationally sets up on the guide rail slider seat, and with hold-in range butt.
The rotary driving device comprises a rotary driving motor, a rotary driving gear and a driven gear, wherein the rotary driving motor is arranged on the upper connecting rod rack, and the output end of the rotary driving motor is connected with the rotary driving gear;
the driven gear is rotatably arranged on the connecting rod rack and is meshed with the rotary driving gear;
the bottom of the tray is connected with a driven gear.
The invention has the advantages and beneficial effects that:
1. the hinged structure of the front frame and the rear frame ensures that the positive pressure required by the driving wheel train can be provided by the carried materials, greatly reduces the weight of equipment, improves the energy utilization rate and improves the operation time.
2. The transmission mechanism adopts a lead screw lifting structure, and the movement direction of the screw nut is the same as the movement direction of the system, so that the lifting system can be uniformly loaded, the maximum load is small, a smaller motor can meet larger load, the space is saved, and the operation is accurate.
3. The invention adopts the connecting rod supporting mechanism to share the load, and the connecting rod supporting mechanism can overcome the defect that the mounting surface of the lifting device is not coplanar caused by the articulation of the vehicle body, so that the vehicle body can cope with various ground conditions.
4. The lifting mechanism of the invention can overcome a series of problems caused by the self vehicle body hinge structure and is suitable for the heavy load condition.
Drawings
FIG. 1 is an isometric view of a rotatable submersible automatic guided vehicle of the present invention;
FIG. 2 is a front view of a rotatable submersible automatic guided vehicle of the present invention;
FIG. 3 is an isometric view of a lifting device of the present invention;
FIG. 4 is one of the isometric views of the lift drive system of the present invention;
FIG. 5 is a second isometric view of the lift drive system of the present invention;
FIG. 6 is a bottom view of the lift drive system of the present invention;
FIG. 7 is a front view of the linkage support system of the present invention;
FIG. 8 is an isometric view of the linkage support system of the present invention.
In the figure: the lifting mechanism comprises a front frame 1, a rear frame 2, a lifting device 3, a driving wheel 4, a tray 5, a hinged structure 6, a lifting driving system 7, a connecting rod supporting system 8, a rotating driving motor 9, a rotating driving gear 10, a lifting driving motor 11, a guide rail slider seat 12, a linear guide rail 13, a lifting connecting plate 14, a synchronous pulley 15, a synchronous belt 16, a tension pulley 17, a bearing seat 18, a ball screw 19, a nut seat 20, a lifting bearing 21, a lifting guide block 22, an upper hinged shaft 23, an upper connecting rod frame 24, an upper connecting rod 25, a middle connecting rod 26, a middle hinged shaft 27, a lower connecting rod 28, a hinged seat 29, a driven gear 30, a driven wheel 31 and a lower hinged shaft 31.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the present invention provides a rotatable submersible automatic guided vehicle, which comprises a frame, a driving wheel 4, a following wheel 31, a lifting device 3, a rotation driving device and a tray 5, wherein the driving wheel 4 and the following wheel 31 are disposed at the bottom of the frame, the lifting device 3 is disposed at the upper portion of the frame, the rotation driving device is disposed on the lifting device 3, and the tray 5 is disposed on the rotation driving device.
In the embodiment of the invention, the frame is a split structure and comprises a front frame 1 and a rear frame 2 hinged with the front frame 1, the driving wheel 4 is positioned between the front frame 1 and the rear frame 2 and is arranged on the front frame 1 or the rear frame 2, and the bottom parts of the front frame 1 and the rear frame 2 are respectively provided with a following wheel 31.
As shown in fig. 3, in the embodiment of the present invention, the lifting device 3 includes a lifting driving system 7, an upper link frame 24 and two sets of link supporting systems 8, wherein the two sets of link supporting systems 8 are symmetrically disposed on the frame, and the upper ends of the two sets of link supporting systems are connected to the upper link frame 24, the lifting driving system 7 is disposed on the frame, and the output end of the lifting driving system is connected to the upper link frame 24, and the rotation driving device is disposed on the upper link frame 24.
In the embodiment of the present invention, the rotation driving device includes a rotation driving motor 9, a rotation driving gear 10, and a driven gear 30, wherein the rotation driving motor 9 is disposed on the upper link frame 24, and an output end thereof is connected to the rotation driving gear 10, the driven gear 30 is rotatably disposed on the link frame 24 through a cross roller bearing and engaged with the rotation driving gear 10, and a bottom of the tray 5 is connected to the driven gear 30. The rotary driving motor 9 drives the rotary driving gear 10 to rotate, thereby driving the driven gear 30 and the tray 5 thereon to rotate.
As shown in fig. 4-5, in the embodiment of the present invention, the lifting driving system 7 includes a lifting driving motor 11, a guide rail slider seat 12, a linear guide rail 13, a lifting connection plate 14, a ball screw 19, and a nut seat 20, wherein the linear guide rail 13 and the ball screw 19 are vertically disposed on the guide rail slider seat 12, a lower end of the ball screw 19 is rotatably connected to a bearing seat 18, the lifting connection plate 14 is slidably connected to the linear guide rail 13, and the nut seat 20 is connected to the lifting connection plate 14 through a lifting guide block 22 and is in threaded connection with the ball screw 19. The lifting driving motor 11 is arranged on the guide rail slider seat 12, the output end of the lifting driving motor is connected with the ball screw 19 through a transmission mechanism, and the lifting driving motor 11 drives the ball screw 19 to rotate through the transmission mechanism, so that the screw seat 20 and the lifting connecting plate 14 are driven to move along the linear guide rail 13.
Specifically, as shown in fig. 6, the transmission mechanism includes a synchronous belt 16, a tension pulley 17 and two synchronous pulleys 15, wherein the two synchronous pulleys 15 are respectively disposed on the output end of the lifting drive motor 11 and the ball screw 19, and are in transmission connection through the synchronous belt 16; the tension wheel 17 is rotatably disposed on the guide rail slider seat 12, and abuts against the timing belt 16, for tensioning the timing belt 16.
In the embodiment of the present invention, as shown in fig. 7-8, the link support system 8 includes a parallel four-bar linkage mechanism and two upper links 25, wherein the parallel four-bar linkage mechanism is disposed on the frame, the lower ends of the two upper links 25 are hinged to the four-bar linkage mechanism, the upper ends of the two upper links 25 are hinged to the upper link frame 24 through the upper hinge shaft 23, and the parallel four-bar linkage mechanism ensures that the upper link frame 24 is always horizontal.
Further, the upper link frame 24 and the lift link plate 14 are connected by an upper hinge shaft 23.
Specifically, the parallel four-bar linkage mechanism includes middle connecting bar 26, lower connecting bar 28 and articulated seat 29, wherein lower connecting bar 28 and articulated seat 29 are two, two articulated seats 29 are respectively arranged on front frame 1 and rear frame 2, the lower ends of two lower connecting bars 28 are respectively articulated with two articulated seats 29 through lower articulated shaft 31, the two ends of middle connecting bar 26 are respectively articulated with the upper ends of two lower connecting bars 28 through middle articulated shaft 27, the upper ends of two lower connecting bars 28 are respectively articulated with the lower ends of two upper connecting bars 25, that is, the lower ends of two upper connecting bars 25 are articulated with middle articulated shaft 27.
In this embodiment, preceding, back frame hinge structure has guaranteed that the required normal pressure of drive train all can be provided by the material that carries on, greatly reduced equipment weight, improves energy utilization, promotes the operating duration.
In this embodiment, the tray 5 is supported by two sets of link support systems 8, and the link support structure can overcome the defect that the mounting surface of the lifting device is not coplanar due to the hinge of the vehicle body, so that the vehicle body can cope with various ground conditions.
In this embodiment, linear motion about the drive through promotion actuating system 7 carries out, and promotion actuating system has adopted the lead screw to promote the structure, and the nut direction of motion is the same with system direction of motion, can guarantee like this that the lift system bears the load evenly, and the biggest bears the load little, can use less motor to satisfy great load, saves space, and the operation is accurate. Therefore, the lifting mechanism can overcome a series of problems caused by the self vehicle body hinge structure and is suitable for the heavy load condition.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a rotatable formula of diving automatic guide car, its characterized in that includes frame, drive wheel (4), follower wheel (31), hoisting device (3), rotary drive device and tray (5), wherein drive wheel (4) and follower wheel (31) set up in the bottom of frame, and hoisting device (3) set up in the upper portion of frame, and rotary drive device sets up on hoisting device (3), and tray (5) set up on rotary drive device.
2. A rotatable submersible automated guided vehicle according to claim 1, characterized in that the frame comprises a front frame (1) and a rear frame (2) articulated to the front frame (1);
the driving wheel (4) is positioned between the front frame (1) and the rear frame (2) and is arranged on the front frame (1) or the rear frame (2);
the bottom of the front frame (1) and the bottom of the rear frame (2) are provided with the following wheels (31).
3. A rotatable submersible automated guided vehicle according to claim 2, characterized in that the lifting device (3) comprises a lifting drive system (7), an upper link frame (24) and two sets of link support systems (8), wherein the two sets of link support systems (8) are symmetrically arranged on the frame and connected at the upper end with the upper link frame (24);
the lifting driving system (7) is arranged on the rack, and the output end of the lifting driving system is connected with the upper connecting rod rack (24);
the rotary driving device is arranged on the upper connecting rod rack (24).
4. A rotatable submersible automated guided vehicle according to claim 3, characterized in that the linkage support system (8) comprises a four-bar linkage in parallel and two upper linkages (25), wherein the four-bar linkage in parallel is arranged on the frame;
the lower ends of the two upper connecting rods (25) are hinged with the four-bar linkage mechanism, and the upper ends of the two upper connecting rods are hinged with the upper connecting rod rack (24).
5. A rotatable submersible automated guide vehicle according to claim 4, characterized in that the parallel four-bar linkage comprises a middle bar (26), a lower bar (28) and a hinged seat (29), wherein the lower bar (28) and the hinged seat (29) are both two; the two hinged seats (29) are respectively arranged on the front rack (1) and the rear rack (2), the lower ends of the two lower connecting rods (28) are respectively hinged with the two hinged seats (29), and the two ends of the middle connecting rod (26) are respectively hinged with the upper ends of the two lower connecting rods (28);
the upper ends of the two lower connecting rods (28) are respectively hinged with the lower ends of the two upper connecting rods (25).
6. The rotatable submersible automatic guide vehicle according to claim 3, wherein the lift drive system (7) comprises a lift drive motor (11), a rail slider seat (12), a linear guide rail (13), a lift link plate (14), a ball screw (19), and a nut seat (20), wherein the linear guide rail (13) and the ball screw (19) are vertically disposed on the rail slider seat (12), and the ball screw (19) is rotatable;
the lifting connecting plate (14) is connected with the linear guide rail (13) in a sliding manner, and the nut seat (20) is arranged on the lifting connecting plate (14) and is in threaded connection with the ball screw (19);
the lifting driving motor (11) is arranged on the guide rail sliding block seat (12), and the output end of the lifting driving motor is connected with the ball screw (19) through a transmission mechanism.
7. The automatic guided vehicle of claim 6, characterized in that the transmission mechanism comprises a synchronous belt (16), a tension pulley (17) and two synchronous pulleys (15), wherein the two synchronous pulleys (15) are respectively arranged on the output end of the lifting driving motor (11) and the ball screw (19) and are in transmission connection through the synchronous belt (16);
the tension wheel (17) is rotatably arranged on the guide rail slider seat (12) and is abutted against the synchronous belt (16).
8. A rotatable submersible automatic guide vehicle according to claim 3, characterised in that the rotary drive means comprise a rotary drive motor (9), a rotary drive gear (10) and a driven gear (30), wherein the rotary drive motor (9) is arranged on the upper link frame (24) and the output is connected with the rotary drive gear (10);
the driven gear (30) is rotatably arranged on the connecting rod rack (24) and is meshed with the rotary driving gear (10);
the bottom of the tray (5) is connected with a driven gear (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255900.0A CN115043353A (en) | 2021-03-09 | 2021-03-09 | Rotatable formula automatic guide car that dives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110255900.0A CN115043353A (en) | 2021-03-09 | 2021-03-09 | Rotatable formula automatic guide car that dives |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115043353A true CN115043353A (en) | 2022-09-13 |
Family
ID=83156852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110255900.0A Pending CN115043353A (en) | 2021-03-09 | 2021-03-09 | Rotatable formula automatic guide car that dives |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115043353A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| CN105731295A (en) * | 2016-04-14 | 2016-07-06 | 上海诺力智能科技有限公司 | Rotatable submerged automated guided vehicle with independent jacking structure |
| US20180099811A1 (en) * | 2016-10-09 | 2018-04-12 | Zhejiang Guozi Robot Technology Co., Ltd | Inventory item management system, transporting robots and the method for transporting inventory holder |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108839725A (en) * | 2018-07-11 | 2018-11-20 | 苏州元谋智能机器人***有限公司 | A kind of suspension and full backpack mobile robot |
| CN111348585A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Cam lifting device |
| CN111776987A (en) * | 2019-05-30 | 2020-10-16 | 北京京东乾石科技有限公司 | Lifting mechanism of automatic guide carrier loader and automatic guide carrier loader |
| EP3757056A1 (en) * | 2019-06-24 | 2020-12-30 | Arrival Limited | Automatic guided vehicles with integrated lifting apparatus |
-
2021
- 2021-03-09 CN CN202110255900.0A patent/CN115043353A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105731295A (en) * | 2016-04-14 | 2016-07-06 | 上海诺力智能科技有限公司 | Rotatable submerged automated guided vehicle with independent jacking structure |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrying vehicle system adopting screw rod for jacking |
| US20180099811A1 (en) * | 2016-10-09 | 2018-04-12 | Zhejiang Guozi Robot Technology Co., Ltd | Inventory item management system, transporting robots and the method for transporting inventory holder |
| CN108100556A (en) * | 2017-12-29 | 2018-06-01 | 北京欣奕华科技有限公司 | Logistic storage robot |
| CN108839725A (en) * | 2018-07-11 | 2018-11-20 | 苏州元谋智能机器人***有限公司 | A kind of suspension and full backpack mobile robot |
| WO2020010575A1 (en) * | 2018-07-11 | 2020-01-16 | 苏州元谋智能机器人***有限公司 | Suspension system and full piggy-back mobile robot |
| CN111348585A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Cam lifting device |
| CN111776987A (en) * | 2019-05-30 | 2020-10-16 | 北京京东乾石科技有限公司 | Lifting mechanism of automatic guide carrier loader and automatic guide carrier loader |
| EP3757056A1 (en) * | 2019-06-24 | 2020-12-30 | Arrival Limited | Automatic guided vehicles with integrated lifting apparatus |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220913 |
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| RJ01 | Rejection of invention patent application after publication |