CN115303385A - Heavy-load AGV vehicle - Google Patents

Heavy-load AGV vehicle Download PDF

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Publication number
CN115303385A
CN115303385A CN202211139646.9A CN202211139646A CN115303385A CN 115303385 A CN115303385 A CN 115303385A CN 202211139646 A CN202211139646 A CN 202211139646A CN 115303385 A CN115303385 A CN 115303385A
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China
Prior art keywords
wheel
shaft
jacking
heavy
main frame
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Granted
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CN202211139646.9A
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Chinese (zh)
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CN115303385B (en
Inventor
韩红安
韩宇洁
何秋生
王栓阁
刘枫
张新刚
王金霞
刘宗源
张营
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Henan Weite Robot Co ltd
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Henan Weite Robot Co ltd
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Priority to CN202211139646.9A priority Critical patent/CN115303385B/en
Publication of CN115303385A publication Critical patent/CN115303385A/en
Application granted granted Critical
Publication of CN115303385B publication Critical patent/CN115303385B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B37/00—Wheel-axle combinations, e.g. wheel sets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • 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
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • 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
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/02—Understructures, i.e. chassis frame on which a vehicle body may be mounted comprising longitudinally or transversely arranged frame members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Handcart (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The invention relates to a heavy-load AGV (automatic guided vehicle) in the technical field of cargo handling equipment, which comprises a battery, power taking equipment, a frame and a traveling mechanism, wherein the frame comprises a main frame body and a separation structure, the main frame body is sequentially provided with a power taking bin for mounting the power taking equipment, a battery bin for mounting the battery and a power taking bin for mounting another power taking equipment along the length direction of the main frame body, and the power taking bin and the battery bin are separated by the separation structure; the main frame body is characterized in that two sections of each side of the main frame body are respectively provided with a cantilever seat used for mounting a travelling mechanism, and the top of the main frame body is provided with a covering part assembly used for covering the top surface and the side surface of the main frame body. According to the invention, due to the arrangement of the balance beam and the trolley hinge shaft, the balance beam can rotate along the trolley hinge shaft, so that the upper and lower positions of the two corresponding wheel sets can be adaptively adjusted according to the ground flatness of the heavy-load AGV in the driving direction, and the amplitude of the vertical jolt of the heavy-load AGV caused by the uneven ground in the driving direction of the heavy-load AGV is reduced.

Description

Heavy-load AGV vehicle
Technical Field
The invention relates to the technical field of cargo handling equipment, in particular to a heavy-load AGV vehicle.
Background
The large-tonnage goods are mostly required to be transported in various fields such as factories, warehouses, ports and the like, the traditional heavy-load transportation mode is generally carried out by adopting a line crane, rail transportation and the like, the line crane heavy-load transportation mode requires the goods to be suspended, and the safety factor is lower; the rail transportation needs more personnel to participate in the work, and only can travel according to the rail laid in advance, so that the labor intensity is higher, and the adaptability is low.
At present, the existing chinese patent publication No. CN114179700A discloses a full-steering heavy-load explosion-proof AGV vehicle, which comprises a frame and a wheel assembly; a plurality of wheel assemblies are arranged on two sides of the bottom of the frame; an explosion-proof battery cabin and a power distribution cabin are arranged on the frame, a battery pack is arranged in the explosion-proof battery cabin, and an explosion-proof control box, a hydraulic station and an explosion-proof distribution box are arranged in the power distribution cabin; the battery pack is electrically connected with the explosion-proof control box and the explosion-proof distribution box, and the explosion-proof control box is electrically connected with the hydraulic station; the explosion-proof control box is internally provided with a control module which is used for driving the wheel assembly to turn and operate, but the device has at least one of the following defects: 1. the distance between the wheel and the frame in the vehicle wheel assembly is fixed, so that when the vehicle runs on an uneven road surface, the up-down bumping amplitude of the frame is large; 2. when the vehicle runs into a recess or a protrusion or the ground on one side of the vehicle inclines along the width direction of the vehicle, a certain wheel in the same wheel assembly is easily suspended, and the load of the other wheel in the wheel assembly is greatly increased, so that the wheel assembly is damaged.
Disclosure of Invention
It is an object of the present invention to provide a heavy-duty AGV vehicle that solves the above-mentioned problems.
The invention achieves the above purpose through the following technical scheme:
the utility model provides a heavy load AGV vehicle, includes the battery, gets electrical equipment, its characterized in that: the electric bicycle is characterized by further comprising a bicycle frame and a travelling mechanism, wherein the bicycle frame comprises a main frame body and a separation structure, the main frame body is sequentially provided with an electricity taking bin for mounting electricity taking equipment, a battery bin for mounting a battery and an electricity taking bin for mounting another electricity taking equipment along the length direction of the main frame body, and the electricity taking bin and the battery bin are separated by the separation structure; two sections of each side of the main frame body are respectively provided with a cantilever seat used for mounting a travelling mechanism, and the top of the main frame body is provided with a covering part assembly used for covering the top surface and the side surface of the main frame body;
the walking mechanism comprises a balance beam, the middle part of the balance beam is provided with a trolley hinge shaft which is rotatably connected with a shaft body along the width direction of the balance beam, the trolley hinge shaft is fixedly connected with a corresponding cantilever base correspondingly, the bottoms of the two ends of the balance beam are provided with rotary reducers respectively, the two ends of the balance beam are provided with steering motors for driving the corresponding rotary reducers to operate, the output end of each rotary reducer faces downwards, and a wheel set is installed on each rotary reducer;
the wheel group comprises a wheel frame and a wheel shaft, the wheel shaft movably penetrates through the bottom of the wheel frame along the width direction of the balance beam, the middle of a shaft body of the wheel shaft is rotatably connected with the wheel frame, wheels are mounted on two shaft heads of the wheel shaft, a support piece is correspondingly and rotatably connected to the upper end of the wheel frame, the support piece is correspondingly and vertically perpendicular to the central axis of the wheel shaft and the rotary central axis of the wheel frame, and the upper end of the support piece is correspondingly and fixedly connected to the output end of the rotary speed reducer;
the wheel set positioned at the outer end part of the balance beam further comprises a traveling motor and an inner gear ring, the end faces of two wheels opposite to each other in the wheel set are provided with the inner gear ring coaxial with the end faces of the two wheels, the two sides of a wheel frame in the wheel set are provided with the traveling motors, the output ends of the two traveling motors face opposite directions, and the output ends of the traveling motors are coaxially provided with driving gears meshed with the corresponding inner gear rings.
Preferably, the top surface of the outer end part of the cantilever base is provided with two vertical plates arranged along the width direction of the cantilever base at intervals along the length direction of the cantilever base, two shaft heads of the trolley hinge shaft respectively penetrate through the corresponding vertical plates and are fixedly connected with the corresponding vertical plates correspondingly, and a gap is formed between the top surface of the cantilever base and the balance beam.
Preferably, one side of the wheel frame, which is far away from the corresponding cantilever seat, is provided with a protection frame capable of protecting the corresponding wheel group.
Preferably, get electric equipment including installing in the direction fixed plate of the electric storehouse inner chamber bottom surface of getting of correspondence, the corresponding rigid coupling of face has n type frame on the direction fixed plate, top surface middle part is equipped with vertical telescopic device in the n type frame, and telescopic device stretches out and draws back the end and vertically runs through direction fixed plate and get the electric storehouse bottom plate to telescopic device stretches out and draws back the electrical apparatus fixed plate of getting that the end installation level set up, get the electrical apparatus fixed plate and install the horizontally board of getting the electricity.
Preferably, the position that gets electrical apparatus fixed plate upper plate face and correspond the direction fixed plate both ends is equipped with vertical first guiding axle, and first guiding axle upper end activity in proper order runs through get the electricity storehouse bottom plate and slide and run through the direction fixed plate to first guiding axle upper end is equipped with limit structure.
Preferably, a first linear bearing sleeved on the first guide shaft body is arranged at a position of the guide fixing plate corresponding to the first guide shaft, and the first guide shaft body is in sliding fit with the first linear bearing.
Preferably, the device also comprises a jacking mechanism, and the separation structure is provided with a jacking bin with an opening at the upper end; climbing mechanism includes jacking tray, the position that the covering assembly corresponds jacking tray is equipped with the structure of stepping down, jacking tray bottom both ends all are equipped with the jacking unit, and two jacking unit fixed parts all install in the jacking storehouse that corresponds.
Preferably, the jacking unit comprises a base, a screw rod nut and a second guide shaft, the base is correspondingly and fixedly connected to the bottom of the jacking tray, a vertical jacking motor and a vertical second guide shaft are respectively arranged at two end parts of the lower end face of the base, a second linear bearing is slidably sleeved on a shaft body of the second guide shaft in a sliding manner and is correspondingly and fixedly connected into the jacking bin, an output shaft of the jacking motor movably penetrates through the base, and a pinion is fixedly sleeved on the output shaft of the jacking motor; the vertical base middle part that runs through of lead screw upper end, and lead screw body and base rotate to be connected, and the coaxial rigid coupling in lead screw upper end has the gear wheel that corresponds the meshing with the pinion, the position cover that lead screw body is located the base below is equipped with rather than screw-thread fit's screw nut, and screw nut corresponds the rigid coupling in jacking storehouse.
Preferably, the position of the upper end surface of the base between the large gear and the small gear is rotatably connected with a transition gear, and the transition gear is meshed with the corresponding large gear and the corresponding small gear.
Preferably, the body frame body includes the bottom plate, the bottom plate both sides all are equipped with vertical ascending T type curb plate, and are equipped with a plurality of outer strengthening ribs along T type curb plate length direction interval between the vertical portion lateral surface of T type curb plate and the T type curb plate horizontal part bottom surface, be equipped with a plurality of interior strengthening ribs along T type curb plate length direction interval on the vertical portion medial surface of T type curb plate, T type curb plate horizontal part bottom surface and the bottom plate between the face, the bottom plate both ends all are equipped with vertical ascending end plate.
Has the advantages that:
1. due to the arrangement of the balance beam and the trolley hinged shaft, the balance beam can rotate along the trolley hinged shaft, so that the upper and lower positions of the two corresponding wheel sets can be adaptively adjusted according to the ground flatness of the heavy-load AGV vehicle in the driving direction, and the amplitude of up and down bumping of the heavy-load AGV vehicle caused by uneven ground in the driving direction of the heavy-load AGV vehicle is reduced;
2. due to the arrangement of the wheel sets, the wheel frame can rotate along the connecting part of the support and the wheel frame, so that the wheel shaft can rotate, the upper and lower positions of the two corresponding wheels can be adaptively adjusted according to the ground flatness of the heavy-duty AGV in the width direction of the vehicle, and the two wheels can both land on the ground, thereby solving the technical problems that when the vehicle in the prior art encounters a depression or a protrusion or the ground on one side of the vehicle inclines in the width direction of the vehicle, a certain wheel in the same wheel assembly is easily suspended, and the load of the other wheel in the wheel assembly is greatly increased, so that the wheel assembly is damaged;
3. due to the arrangement of the frame, the jacking bin, the power taking bin and the battery bin are all arranged on the inner side of the main frame body, so that the battery, the power taking equipment and the jacking mechanism are all positioned on the inner side of the frame, the overall structure of the heavy-duty AGV vehicle is more compact, and meanwhile, a premise is provided for reducing the height of the heavy-duty AGV vehicle;
4. because climbing mechanism's setting, can be under climbing motor's effect, climbing motor, lead screw rise or descend along with the base is synchronous, consequently compare when current in the removal of screw nut group in the nut compare, under the condition that the biggest lifting distance is the same, the whole height of jacking unit in this heavy load AGV vehicle is lower, consequently can realize the lower height of this heavy load AGV vehicle, and then improve the stability of transport goods.
Additional features of the invention and advantages thereof will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic structural view of the vehicle frame of the present invention;
FIG. 4 is a schematic structural view of a traveling mechanism according to the present invention;
FIG. 5 is a schematic structural view of a wheel assembly of the present invention;
FIG. 6 is a schematic view of another wheel assembly of the present invention;
FIG. 7 is a schematic structural diagram of a power-taking apparatus according to the present invention;
FIG. 8 is a schematic structural view of a cover assembly of the present invention;
FIG. 9 is a schematic structural view of a jacking mechanism in the present invention;
fig. 10 is a schematic structural view of the jacking unit in the present invention.
The reference numerals are illustrated below:
1. a frame; 11. a main frame body; 111. a base plate; 112. a T-shaped side plate; 1121. external reinforcing ribs; 1122. an inner reinforcing rib; 113. an end plate; 12. a partition structure; 121. jacking a bin; 13. an electricity taking bin; 14. a battery compartment; 15. a cantilever mount; 151. a vertical plate; 2. a traveling mechanism; 21. a balance beam; 22. a trolley hinge shaft; 23. a slewing reducer; 24. a wheel set; 241. a wheel frame; 242. a wheel shaft; 243. a wheel; 244. a support member; 245. a traveling motor; 246. an inner gear ring; 247. a drive gear; 248. a protective frame; 25. a steering motor; 3. electricity taking equipment; 31. a guide fixing plate; 32. an n-type frame; 33. a telescopic device; 34. a power take-off fixing plate; 35. a power taking plate; 36. a first guide shaft; 37. a first linear bearing; 4. a cover assembly; 5. a jacking mechanism; 51. jacking a tray; 52. a jacking unit; 521. a base; 522. a lead screw; 523. a lead screw nut; 524. a second guide shaft; 525. a second linear bearing; 526. a bull gear; 527. a jacking motor; 528. a pinion gear; 529. a transition gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the first embodiment, as shown in fig. 1 to 10, a heavy-duty AGV vehicle includes a battery, a power supply device 3, a vehicle frame 1, and a traveling mechanism 2, where the vehicle frame 1 includes a main frame 11 and a partition structure 12, and is made of carbon structural steel by tailor welding according to needs; the main frame body 11 is sequentially provided with an electricity taking bin 13 for mounting an electricity taking device 3, a battery bin 14 for mounting a battery and an electricity taking bin 13 for mounting another electricity taking device 3 along the length direction of the main frame body, the electricity taking bin 13 and the battery bin 14 are separated by a separation structure 12, and in the embodiment, the upper ends of the electricity taking bin 13 and the battery bin 14 are both open; two sections of each side of the main frame body 11 are respectively provided with a cantilever seat 15 for mounting the travelling mechanism 2, so that loads are effectively and uniformly distributed, the travelling and steering functions of the heavy-load AGV are well met, and the AGV moves flexibly; the top of the main frame body 11 is provided with a covering part assembly 4 for covering the top surface and the side surface of the main frame body;
according to the requirement, the covering component assembly 4 comprises a framework and a steel plate, preferably, one side of the covering component assembly 4 is provided with a door which can be opened and is convenient for charging the battery;
according to the requirement, the front end, the rear end and the two sides of the covering piece assembly 4 are respectively provided with obstacle avoidance laser and navigation laser which are used for sensing obstacles and human bodies and planning the running route of the heavy-load AGV vehicle;
as shown in fig. 4, the traveling mechanism 2 includes a balance beam 21, a trolley hinge shaft 22 rotatably connected to a shaft body is disposed in the middle of the balance beam 21 along the width direction of the balance beam, the trolley hinge shaft 22 is fixedly connected to the corresponding cantilever base 15, a rotation reducer 23 is disposed at the bottom of each of the two ends of the balance beam 21, a steering motor 25 for driving the corresponding rotation reducer 22 to operate is disposed at each of the two ends of the balance beam 21, the output end of the rotation reducer 22 faces downward, and a wheel set 24 is mounted on the rotation reducer 22;
in the present embodiment, the steering motor 25 is a reduction motor, that is, the steering motor 25 is a combination of a motor and a reduction gear;
the arrangement can drive the rotary speed reducer 22 to operate through the steering motor 25 so as to drive the wheel set 24 to rotate, so that the steering function of the heavy-load AGV vehicle is realized;
therefore, due to the arrangement of the balance beam 21 and the trolley hinged shaft 22, the balance beam 21 can rotate along the trolley hinged shaft 22, so that the upper and lower positions of the two corresponding wheel sets 24 can be adaptively adjusted according to the ground flatness of the heavy-load AGV vehicle in the driving direction, and the amplitude of up-and-down bumping of the heavy-load AGV vehicle caused by uneven ground in the driving direction of the heavy-load AGV vehicle is reduced; compared with the traditional Chinese patent with publication number CN114179700A, the arrangement of the full-steering heavy-load explosion-proof AGV has the advantages that the up-and-down bumping amplitude of the frame 1 of the heavy-load AGV can be reduced by half theoretically;
specifically, when a 100mm protrusion or depression occurs on the ground, when a wheel of an existing full-steering heavy-duty explosion-proof AGV vehicle passes through the protrusion or depression, one end of the full-steering heavy-duty explosion-proof AGV vehicle, which corresponds to the wheel passing through the protrusion or depression, also rises or falls by 100mm along with the wheel, however, wheel sets 24 are provided below two ends of a balance beam 21 in the travel mechanism 2 of the heavy-duty AGV vehicle, and the balance beam 21 can rotate, so when any one wheel set 24 passes through the 100mm protrusion or depression, the corresponding other wheel set 24 is at a position with unchanged height, and therefore, the height of the corresponding trolley hinge 22 rises or falls by only about 50mm.
As shown in fig. 5-6, the wheel set 24 includes a wheel frame 241 and a wheel axle 242, the wheel axle 242 movably penetrates through the bottom of the wheel frame 241 along the width direction of the balance beam 21, the middle of the axle body of the wheel axle 242 is rotatably connected to the wheel frame 241, wheels 243 are mounted on both axle heads of the wheel axle 242, a support 244 is rotatably connected to the upper end of the wheel frame 241, the rotation center axis of the support 244 and the wheel frame 241 is correspondingly perpendicular to the rotation center axis of the wheel axle 242, and the upper end of the support 244 is fixedly connected to the output end of the rotation speed reducer 22;
preferably, the wheel 243 is a polyurethane wheel or a wheel with a tire;
in this embodiment, the supporting member 244 is an n-shaped bracket, the upper end of the wheel frame 241 extends to the inner side of the supporting member 244 and is correspondingly hinged through a hinge shaft, and the middle part of the upper end of the supporting member 244 is correspondingly fixedly connected with the output end of the slewing reducer 22;
thus, due to the arrangement of the wheel set 24, the wheel frame 241 can rotate along the connecting part of the support 244 and the wheel frame 241, and further the wheel shaft 242 rotates, so that the upper and lower positions of the two corresponding wheels 243 can be adaptively adjusted according to the ground flatness of the heavy-duty AGV in the width direction, and both the two wheels 243 can land on the ground, thereby solving the technical problems that when the vehicle in the prior art encounters a recess or a protrusion, a certain wheel in the same wheel assembly is suspended in the air, and the load of the other wheel in the wheel assembly is increased sharply, so that the wheel assembly is damaged;
specifically, when a 50mm depression appears on the ground, when any wheel of the wheel assembly of the existing full-steering heavy-load explosion-proof AGV passes through the depression, the other wheel of the wheel assembly is in a grounding state, so that the wheel positioned right above the depression is in a suspended state, and the load of the grounding wheel is increased sharply, so that the wheel assembly is easily damaged; the process of the projection is also omitted for details; however, the wheel frames 241 of the heavy-duty AGV traveling mechanism 2 all have wheels 243, and the wheel frames 241 can rotate, so that when any wheel 243 passes through the depression, the corresponding other wheel set 24 is at a position with unchanged height, and at this time, the wheel 243 passing through the depression enters the depression and lands on the ground, thereby solving the technical problem that in the prior art, the wheel directly above the depression is in a suspended state, and the wheel load of the landing is greatly increased, which easily causes the wheel assembly to be damaged.
As shown in fig. 5, the wheel set 24 at the outer end of the balance beam 21 further includes a walking motor 245 and an inner gear ring 246, the end surfaces of the two opposite wheels 243 in the wheel set 24 are respectively provided with the inner gear ring 246 coaxial therewith, the two sides of the wheel frame 241 in the wheel set 24 are respectively provided with the walking motor 245, the output ends of the two walking motors 245 face opposite directions, and the output ends of the walking motors 245 are coaxially provided with driving gears 247 engaged with the corresponding inner gear rings 246;
in this way, the two traveling motors 245 simultaneously drive the two wheels 243 to rotate, so that the wheel shafts 242 and the wheel frames 241 are stressed in balance, no deflection force occurs, and the rotary speed reducer 22 is not stressed under the condition that the heavy-load AGV vehicle moves straight;
in this embodiment, when the heavy-duty AGV vehicle travels, the traveling motor 245 corresponding to the traveling direction runs, at this time, the wheels 243 in transmission fit with the traveling motor 245 are traveling wheels, and the remaining six groups of wheels 243 are driven wheels;
in another embodiment, when a heavy-duty AGV vehicle travels, all the travel motors 245 are operated, at this time, the wheels 243 in transmission fit with the travel motors 245 are travel wheels, and the remaining four groups of wheels 243 are driven wheels, so that the heavy-duty AGV vehicle can stably pull heavy goods;
when having set up like this and having realized this heavy load AGV vehicle reciprocating traveling, need not this heavy load AGV vehicle lifting head to can realize advancing and travel, solve among the prior art inconvenient technical problem of backing a car and traveling or lifting head operation.
According to the requirement, the top surface of the outer end part of the cantilever base 15 is provided with two vertical plates 151 arranged along the width direction at intervals along the length direction, two shaft heads of the trolley hinge shaft 22 respectively penetrate through the corresponding vertical plates 151 and are fixedly connected with the corresponding vertical plates 151 correspondingly, and a gap exists between the top surface of the cantilever base 15 and the balance beam 21.
According to the requirement, the side of the wheel frame 241 far away from the corresponding cantilever base 15 is provided with a protective frame 248 capable of protecting the corresponding wheel set 24, so that the protective frame 248 can push away an obstacle in front of the wheel set 24, the wheel set 24 is prevented from colliding with the obstacle, and the wheel 243 is prevented from rolling the obstacle to damage the wheel 243.
In the second embodiment, on the basis of the first embodiment, as shown in fig. 7, the electricity taking device 3 includes a guide fixing plate 31 installed on the bottom surface of the inner cavity of the corresponding electricity taking bin 13, an n-type frame 32 is fixedly connected to the upper plate surface of the guide fixing plate 31 correspondingly, a vertical telescopic device 33 is arranged in the middle of the inner top surface of the n-type frame 32, the telescopic end of the telescopic device 33 vertically penetrates through the guide fixing plate 31 and the bottom plate of the electricity taking bin 13, a horizontally arranged electricity taking device fixing plate 34 is installed at the telescopic end of the telescopic device 33, a horizontal electricity taking plate 35 is installed on the electricity taking device fixing plate 34, and an abdicating through hole is formed in the position, corresponding to the telescopic device 33, of the guide fixing plate 31 as required;
in this embodiment, the telescopic device 33 is an electric telescopic rod, and the telescopic device 33 may be a hydraulic telescopic rod or a pneumatic telescopic rod as required;
in this way, the telescopic device 33 can drive the electricity taking device fixing plate 34 to lift, and further drive the electricity taking plate 35 to lift, and at the moment, the function of charging the battery can be realized; specifically, the heavy-duty AGV vehicle uses an inductive energy transmission principle by using a cable buried underground, and the power-taking board 35 converts a phase sequence by a power converter and increases a voltage by a boost module to complete non-contact charging of the battery.
In the third embodiment, on the basis of the second embodiment, as shown in fig. 7, vertical first guide shafts 36 are arranged on the upper plate surface of the electricity taking device fixing plate 34 at positions corresponding to the two end portions of the guide fixing plate 31, the upper ends of the first guide shafts 36 sequentially and movably penetrate through the bottom plate of the electricity taking bin 13 and slidably penetrate through the guide fixing plate 31, and a limiting structure is arranged at the upper end portion of each first guide shaft 36; the arrangement enables the electricity taking device fixing plate 34 to vertically move smoothly up and down;
a first linear bearing 37 sleeved on the shaft body of the first guide shaft 36 is arranged at the position of the guide fixing plate 31 corresponding to the first guide shaft 36, and the shaft body of the first guide shaft 36 is in sliding fit with the first linear bearing 37;
the telescopic end of the telescopic device 33 and the electricity taking device fixing plate 34 can be correspondingly hinged or detachably and fixedly connected according to requirements.
In the fourth embodiment, on the basis of the first embodiment, as shown in fig. 1, 8 and 9, the partition structure 12 is further provided with a jacking bin 121 with an opening at the upper end; the jacking mechanism 5 comprises a jacking tray 51, the position of the covering part assembly 4 corresponding to the jacking tray 51 is provided with a yielding structure, two ends of the bottom of the jacking tray 51 are provided with jacking units 52, the fixing parts of the two jacking units 52 are respectively arranged on the corresponding jacking bins 121, and specifically, the upper openings of the jacking bins 121 are positioned corresponding to the positions of the jacking units 52;
according to the requirement, the two jacking mechanisms 5 act synchronously;
the jacking unit 52 comprises a base 521, a screw 522, a screw nut 523 and a second guide shaft 524, the base 521 is correspondingly and fixedly connected to the bottom of the jacking tray 51, two end parts of the lower end surface of the base 521 are respectively provided with a vertical jacking motor 527 and a vertical second guide shaft 524, a shaft body of the second guide shaft 524 is slidably sleeved with a second linear bearing 525, the second linear bearing 525 is correspondingly and fixedly connected in the jacking bin 121, an output shaft of the jacking motor 527 movably penetrates through the base 521, and a pinion 528 is fixedly sleeved on the output shaft of the jacking motor 527; the upper end of the screw 522 vertically penetrates through the middle of the base 521, the body of the screw 522 is rotatably connected with the base 521, the upper end of the screw 522 is coaxially and fixedly connected with a large gear 526 which is correspondingly meshed with a small gear 528, a screw nut 523 in threaded fit with the screw 522 is sleeved at the position of the body of the screw 522, which is positioned below the base 521, and the screw nut 523 is correspondingly and fixedly connected in the jacking bin 121;
in this embodiment, a transition gear 529 is rotatably connected to the upper end surface of the base 521 at a position between the bull gear 526 and the pinion 528, and the transition gear 529 is engaged with the corresponding bull gear 526 and the pinion 528;
the jacking motor 527 is a speed reducing motor or a combination of the motor and the speed reducer as required
The small gear 528 can be driven to rotate by the jacking motor 527, the small gear 528 drives the transition gear 529 to rotate, the transition gear 529 drives the large gear 526 to rotate, the large gear 526 drives the lead screw 522 to rotate, at the moment, the lead screw 522 rises under the action of the lead screw nut 523, the lead screw 522 drives the base 521 to rise, and further drives the second guide shaft 524 to rise, at the moment, the second guide shaft 524 rises vertically under the action of the corresponding second linear bearing 525, and as the jacking units 52 are arranged at the two ends of the bottom of the jacking tray 51, stable vertical rising of the jacking tray 51 can be ensured;
in this way, the screw nut 523 is fixedly connected in the jacking bin 121, and under the action of the jacking motor 527, the jacking motor 527 and the screw 522 synchronously ascend or descend along with the base 521, so that compared with the movement of nuts in a screw nut set in the prior art, the overall height of the jacking unit 52 in the heavy-load AGV vehicle is lower under the condition that the maximum lifting distance is the same, and therefore the lower height of the heavy-load AGV vehicle can be realized, and the stability of goods handling is further improved;
in this embodiment, the wheels 243 are polyurethane wheels, which further reduces the height of the heavy AGV.
Fifth embodiment, on the basis of the first embodiment, as shown in fig. 3, the main frame 11 includes a bottom plate 111, two sides of the bottom plate 111 are both provided with a T-shaped side plate 112 extending vertically upward, and a plurality of outer reinforcing ribs 1121 are arranged between the outer side surface of the vertical portion of the T-shaped side plate 112 and the bottom surface of the horizontal portion of the T-shaped side plate 112 at intervals along the length direction of the T-shaped side plate 112, a plurality of inner reinforcing ribs 1122 are arranged between the inner side surface of the vertical portion of the T-shaped side plate 112 and the bottom surface of the horizontal portion of the bottom plate 111 at intervals along the length direction of the T-shaped side plate 112, the inner reinforcing ribs 1122 are rectangular structures as required, the side edge of the inner reinforcing rib 1122 away from the vertical portion of the T-shaped side plate 112 is flush with the inner side edge of the horizontal portion of the T-shaped side plate 112, and both ends of the bottom plate 111 are provided with end plates 113 extending vertically upward;
therefore, the internal space of the main frame body 11 is fully utilized, and the strength and rigidity of the main frame body 11 are ensured.
The foregoing shows and describes the general principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides a heavy load AGV vehicle, includes the battery, gets electrical equipment (3), its characterized in that: the electric bicycle is characterized by further comprising a bicycle frame (1) and a travelling mechanism (2), wherein the bicycle frame (1) comprises a main frame body (11) and a separation structure (12), the main frame body (11) is sequentially provided with an electricity taking bin (13) for mounting an electricity taking device (3), a battery bin (14) for mounting a battery and an electricity taking bin (13) for mounting another electricity taking device (3) along the length direction of the main frame body, and the electricity taking bin (13) and the battery bin (14) are separated by the separation structure (12); two sections of each side of the main frame body (11) are respectively provided with a cantilever seat (15) used for mounting the travelling mechanism (2), and the top of the main frame body (11) is provided with a covering part assembly (4) used for covering the top surface and the side surface of the main frame body;
the walking mechanism (2) comprises a balance beam (21), the middle of the balance beam (21) is provided with a trolley hinged shaft (22) which is rotatably connected with a shaft body along the width direction of the balance beam, the trolley hinged shaft (22) is fixedly connected with a corresponding cantilever seat (15) correspondingly, the bottoms of two ends of the balance beam (21) are provided with rotary reducers (23), two ends of the balance beam (21) are provided with steering motors (25) used for driving the corresponding rotary reducers (22) to operate, the output end of each rotary reducer (22) faces downwards, and a wheel set (24) is installed on each rotary reducer;
the wheel set (24) comprises a wheel frame (241) and a wheel shaft (242), the wheel shaft (242) movably penetrates through the bottom of the wheel frame (241) along the width direction of the balance beam (21), the middle of the shaft body of the wheel shaft (242) is rotatably connected with the wheel frame (241), wheels (243) are mounted at two shaft heads of the wheel shaft (242), a support piece (244) is correspondingly rotatably connected at the upper end of the wheel frame (241), the rotation central axis of the support piece (244) and the wheel frame (241) is correspondingly vertical to the central axis of the wheel shaft (242), and the upper end of the support piece (244) is correspondingly fixedly connected at the output end of the rotation speed reducer (22);
the wheel set (24) positioned at the outer end part of the balance beam (21) further comprises a walking motor (245) and an inner gear ring (246), the end surfaces of two wheels (243) in the wheel set (24) opposite to each other are respectively provided with the inner gear ring (246) coaxial with the wheel set, the two sides of a wheel frame (241) in the wheel set (24) are respectively provided with the walking motor (245), the output ends of the two walking motors (245) face oppositely, and the output ends of the walking motors (245) are coaxially provided with driving gears (247) meshed with the corresponding inner gear rings (246).
2. A heavy loaded AGV vehicle according to claim 1 wherein: two vertical plates (151) arranged along the width direction of the cantilever base are arranged on the top surface of the outer end part of the cantilever base (15) at intervals along the length direction of the cantilever base, two shaft heads of the trolley hinge shaft (22) respectively penetrate through the corresponding vertical plates (151) and are fixedly connected with the corresponding vertical plates (151), and a gap exists between the top surface of the cantilever base (15) and the balance beam (21).
3. A heavy loaded AGV vehicle according to claim 1 wherein: and a protection frame (248) capable of protecting the corresponding wheel group (24) is arranged on one side of the wheel frame (241) far away from the corresponding cantilever seat (15).
4. A heavy-duty AGV vehicle according to claim 1 wherein: get electric equipment (3) including installing in the direction fixed plate (31) of getting electric storehouse (13) inner chamber bottom surface that corresponds, the corresponding rigid coupling of face has n type frame (32) on direction fixed plate (31), top surface middle part is equipped with vertical flexible equipment (33) in n type frame (32), and flexible end of flexible equipment (33) is vertical to run through direction fixed plate (31) and get electric storehouse (13) bottom plate to flexible end installation of flexible equipment (33) gets electrical apparatus fixed plate (34) that the level set up, get electrical apparatus fixed plate (34) and install horizontally and get electric board (35).
5. A heavy loaded AGV according to claim 4 wherein: get electrical apparatus fixed plate (34) and go up the face and correspond the position at direction fixed plate (31) both ends and be equipped with vertical first guiding axle (36), and first guiding axle (36) upper end activity in proper order runs through get electrical storehouse (13) bottom plate and slide and run through direction fixed plate (31) to first guiding axle (36) upper end is equipped with limit structure.
6. A heavy loaded AGV according to claim 5 wherein: the position of the guide fixing plate (31) corresponding to the first guide shaft (36) is provided with a first linear bearing (37) sleeved on the shaft body of the first guide shaft (36), and the shaft body of the first guide shaft (36) is in sliding fit with the first linear bearing (37).
7. A heavy loaded AGV vehicle according to claim 1 wherein: the device is characterized by also comprising a jacking mechanism (5), wherein the partition structure (12) is provided with a jacking bin (121) with an opening at the upper end; climbing mechanism (5) are including jacking tray (51), the position that covering assembly (4) correspond jacking tray (51) is equipped with the structure of stepping down, jacking tray (51) bottom both ends all are equipped with jacking unit (52), and two jacking unit (52) fixed parts all install in corresponding jacking storehouse (121).
8. The heavy-duty AGV vehicle of claim 7, wherein: the jacking unit (52) comprises a base (521), a lead screw (522), a lead screw nut (523) and a second guide shaft (524), the base (521) is fixedly connected to the bottom of the jacking tray (51) correspondingly, two ends of the lower end face of the base (521) are respectively provided with a vertical jacking motor (527) and a vertical second guide shaft (524), a second linear bearing (525) is slidably sleeved on a shaft body of the second guide shaft (524), the second linear bearing (525) is fixedly connected into the jacking bin (121) correspondingly, an output shaft of the jacking motor (527) movably penetrates through the base (521), and a pinion (528) is fixedly sleeved on the output shaft; lead screw (522) upper end is vertical to run through base (521) middle part, and lead screw (522) thick stick body and base (521) rotate to be connected, and the coaxial rigid coupling in lead screw (522) upper end has and corresponds gear wheel (526) of meshing with pinion (528), lead screw (522) thick stick body is located the position cover of base (521) below and is equipped with screw nut (523) rather than screw-thread fit, and screw nut (523) correspond the rigid coupling in jacking storehouse (121).
9. The heavy-duty AGV vehicle of claim 8 wherein: the upper end face of the base (521) is rotatably connected with a transition gear (529) at a position between the bull gear (526) and the pinion gear (528), and the transition gear (529) is meshed with the corresponding bull gear (526) and the pinion gear (528).
10. A heavy loaded AGV vehicle according to claim 1 wherein: the main frame body (11) comprises a bottom plate (111), both sides of the bottom plate (111) are provided with vertical upward T-shaped side plates (112), a plurality of outer reinforcing ribs (1121) are arranged between the outer side faces of the vertical portions of the T-shaped side plates (112) and the bottom faces of the horizontal portions of the T-shaped side plates (112) at intervals along the length direction of the T-shaped side plates (112), a plurality of inner reinforcing ribs (1122) are arranged between the inner side faces of the vertical portions of the T-shaped side plates (112), the bottom faces of the horizontal portions of the T-shaped side plates (112) and the bottom plate (111) at intervals along the length direction of the T-shaped side plates (112), and both ends of the bottom plate (111) are provided with vertical upward end plates (113).
CN202211139646.9A 2022-09-19 2022-09-19 Heavy load AGV vehicle Active CN115303385B (en)

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