CN110843960B - Heavy load AGV flatbed - Google Patents
Heavy load AGV flatbed Download PDFInfo
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- CN110843960B CN110843960B CN201911294662.3A CN201911294662A CN110843960B CN 110843960 B CN110843960 B CN 110843960B CN 201911294662 A CN201911294662 A CN 201911294662A CN 110843960 B CN110843960 B CN 110843960B
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- 238000005096 rolling process Methods 0.000 claims abstract description 24
- 230000006698 induction Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000003139 buffering effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the field of AGV production, and particularly relates to a heavy-load AGV, which comprises a frame, wherein a plurality of rolling units are detachably arranged below the frame, and each rolling unit comprises a top mounting plate, a turntable bearing, a chassis, a base and two wheels; the chassis is rotatably supported and installed below the top mounting plate through a turntable bearing, the top mounting plate and the bearing inner ring of the turntable bearing are detachably and fixedly connected together, and the chassis and the bearing outer ring are detachably and fixedly connected together; a steering structure limit and a steering induction limit are arranged between the top mounting plate and the chassis; a plurality of guide posts are fixedly connected under the chassis, and can be inserted into the base in an up-and-down movable manner; the two wheels are respectively and independently matched with the driving element, a clutch structure is arranged between the wheels and the driving element, and the two wheels are independently and coaxially rotatably arranged on two sides of the base. The invention can solve the problem of steering limitation caused by poor driving when the load capacity of the existing truck is large.
Description
Technical Field
The invention belongs to the field of AGV production, and particularly relates to a heavy-load AGV flat car.
Background
In industrial production, the AGV car can be driven automatically along a preset route because unmanned driving can be realized, the system can be ensured to automatically drive goods or materials from a starting point to a destination under the condition of no manual navigation, the AGV has good flexibility, the automation degree is high, the intelligent level is high, and the like, the characteristics of the existing heavy-load AGV car are widely applied, the running mode of the existing heavy-load AGV car is simpler, the front wheel or the rear wheel is generally adopted for driving, the simple forward, backward and steering can only be realized, when the load is larger, the steering capacity of the AGV car is greatly limited, so that the driving performance of the AGV car needs to be improved, the conversion of the running direction of the AGV car when the load is large, and the self carrying capacity of the AGV car is improved.
Disclosure of Invention
In view of the above, the invention aims to provide a heavy-load AGV flat car so as to solve the problem of steering limitation caused by poor driving when the bearing capacity of the existing heavy-load car is large.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
The heavy-load AGV flat car comprises a frame, wherein a plurality of rolling units are detachably arranged below the frame, and each rolling unit comprises a top mounting plate, a turntable bearing, a chassis, a base and two wheels; the rolling unit is detachably arranged under the frame through a top mounting plate;
the chassis is rotatably supported and installed below the top mounting plate through a turntable bearing, the top mounting plate and the bearing inner ring of the turntable bearing are detachably and fixedly connected together, and the chassis and the bearing outer ring are detachably and fixedly connected together; a steering structure limit and a steering induction limit are arranged between the top mounting plate and the chassis;
a plurality of guide posts are fixedly connected under the chassis, and can be inserted into the base in an up-and-down movable manner;
The two wheels are respectively and independently matched with the driving element, a clutch structure is arranged between the wheels and the driving element, and the two wheels are independently and coaxially rotatably arranged on two sides of the base.
Further, the steering structure between the top mounting plate and the chassis is limited by a limiting column fixedly connected to the lower surface of the top mounting plate and a limiting stop fixedly connected to the upper surface of the chassis, the lower surface of the limiting column is shorter than the upper surface of the limiting stop, and the limiting column is located on the running track of the limiting stop when the limiting stop rotates along with the chassis.
Further, a rotation limit position marking point is arranged on the bearing outer ring, a proximity sensor corresponding to the rotation limit position marking point is arranged on the lower surface of the top mounting plate, and the proximity sensor is steering sensing limit between the top mounting plate and the chassis.
Further, the base comprises an inner seat and an outer seat which are sleeved together, the inner seat and the outer seat are connected through two sections of half shafts, the two half shafts are coaxial, and the connecting line of the two shaft centers is perpendicular to the central axis of the wheel; the inner seat is provided with a plurality of guide holes corresponding to the guide posts one by one, the lower parts of the guide posts penetrate through the guide holes, and the lower ends of the guide posts are fixedly connected with limit baffles.
Further, a buffer limiting structure is arranged between the chassis and the base; the buffering limiting structure comprises a buffering supporting column and a spring;
The inner seat is provided with a containing groove, and the spring is positioned in the containing groove and is extruded between the lower surface of the chassis and the bottom plate of the containing groove; the buffer support columns are arranged between the lower surface of the chassis and the upper surface of the outer seat at intervals.
Further, a vertical wire passing column is fixedly connected in the base, the wire passing column is of a hollow tubular structure, and the wire passing column penetrates through the chassis.
Further, the driving element is a servo motor, and the servo motor is in transmission connection with the corresponding wheel through a chain transmission mechanism.
Further, the clutch structure is arranged between an output shaft of the servo motor and a driving sprocket in the chain transmission mechanism;
the clutch structure comprises a clutch shaft sleeve which is detachably and fixedly connected to an output shaft of the servo motor, and the driving sprocket is sleeved on the clutch shaft sleeve and connected with the clutch shaft sleeve through a clutch bolt; the clutch shaft sleeve is a stepped shaft sleeve, the middle part of the clutch shaft sleeve is provided with a stepped surface for axially limiting the driving sprocket on the clutch shaft sleeve, the front section of the clutch shaft sleeve is a mounting section, and the mounting section is provided with a plurality of circumferentially distributed half screw holes I; the hole wall of the central hole of the driving sprocket is provided with a plurality of half screw holes II which are in one-to-one correspondence with the half screw holes; the driving sprocket is sleeved on the mounting section of the clutch shaft sleeve, the first half screw hole and the second half screw hole are spliced to form a complete screw hole, and the clutch bolt is screwed in the complete screw hole.
Further, an encoder for detecting the rotation angle of the outer ring of the bearing is arranged below the top mounting plate; the bearing outer race transmits the angular information to the encoder via a meshing gear and timing belt that mesh therewith.
Further, a circle of sensing anti-collision strips are arranged on the periphery of the frame; a plurality of safety baffles which are in one-to-one correspondence with the positions of the rolling units are arranged at the lower edge of the frame; a plurality of tracking sensors are arranged below the frame, and laser sensors are also respectively arranged at the front end and the rear end of the frame.
Compared with the prior art, the invention has the following advantages:
The flat car disclosed by the invention can realize running requirements of forward movement, backward movement, in-situ rotation, steering and the like, meets the requirements of forward movement, backward movement, steering and 90-degree translation of an AGV, and for the AGV, each rolling unit independently operates, two wheels in each rolling unit are respectively and independently designed, and are respectively driven by motors, so that the conversion of the running direction of the AGV in the case of large bearing capacity is conveniently realized, the carrying capacity of the AGV is improved, and the problem of steering limitation caused by poor driving in the case of large bearing capacity of the existing load-carrying car can be solved.
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 invention. In the drawings:
FIG. 1 is a schematic perspective view of a rolling unit according to the present invention;
FIG. 2 is a front view of a scrolling unit of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a bottom view of FIG. 2;
FIG. 5 is a top view of FIG. 2;
FIG. 6 is a cross-sectional view at section A in FIG. 5;
FIG. 7 is a cross-sectional view at section B in FIG. 5;
FIG. 8 is a schematic view of the mounting position of the limit stop;
FIG. 9 is a schematic view of the top mounting plate;
FIG. 10 is a schematic view of the mounting location of an encoder;
FIG. 11 is a schematic view of the structure of the inner seat;
FIG. 12 is a cross-sectional view of the inner seat;
FIG. 13 is a schematic view of the structure of the outer seat;
FIG. 14 is a schematic view of the connection of the inner and outer seats in the orientation shown in FIG. 6;
FIG. 15 is a schematic view of the connection of the inner and outer seats in the orientation shown in FIG. 7;
FIG. 16 is a schematic structural view of a chain tensioning mechanism;
FIG. 17 is a schematic view of the mounting of the clutch sleeve on the output shaft of the servo motor;
FIG. 18 is a schematic view of a mounting structure of the drive sprocket;
FIG. 19 is a schematic view of a clutch sleeve;
FIG. 20 is a schematic view of a drive sprocket configuration;
FIG. 21 is a schematic view of a flatbed according to the present invention;
FIG. 22 is a schematic view of the bottom structure of the pallet truck according to the present invention;
fig. 23 is a schematic view of the installation position of the rolling unit under the frame.
Reference numerals illustrate:
1-a top mounting plate; 11-a limit column; 12-a proximity sensor; 2-a turntable bearing; 21-a bearing outer ring; 22-bearing inner ring; 3-chassis; 31-buffer support columns; 32-limit stops; 4-a guide post; 41-limiting baffles; 5-a base; 51-an inner seat; 511-a receiving groove; 512-guide holes; 513-shaft mounting hole one; 514-a bottom plate; 52-an outer seat; 521-shaft mounting hole two; 522-a connection plate; 5221-oblong holes; 53-half shaft; 54-wire passing column; 55-springs; 61-a servo motor; 610-clutch bolts; 611-clutch sleeve; 6111-a mounting section; 6112-half screw hole I; 6113 step surface; 62-wheels; 621-wheel axle; 63-a chain drive; 631-a drive sprocket; 6311-half screw hole two; 641-a movable plate; 642-swinging the shaft; 643-scallops; 6431-a fastening bolt; 644-adjusting bolts; 645-detent projections; 646-lock nut; 7-an encoder; 71-mesh gear; 72-synchronous belt; 8-a frame; 80-a scrolling unit; 81-sensing a bumper strip; 82-a safety barrier; 83-laser sensor.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. 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 devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-23, the heavy-duty AGV flatbed comprises a frame 8, a plurality of rolling units 80 are detachably mounted below the frame 8, and each rolling unit 80 comprises a top mounting plate 1, a turntable bearing 2, a chassis 3, a base 5 and two wheels 62; the rolling unit 80 is detachably mounted under the frame 8 through the top mounting plate 1;
The chassis 3 is rotatably supported and installed below the top mounting plate 1 through the turntable bearing 2, the top mounting plate 1 is detachably and fixedly connected with the bearing inner ring 22 of the turntable bearing 2, and the chassis 3 is detachably and fixedly connected with the bearing outer ring 21; a steering structure limit and a steering induction limit are arranged between the top mounting plate 1 and the chassis 3;
a plurality of guide posts 4 are fixedly connected under the chassis 3, and the guide posts 4 can be movably spliced in the base 5 up and down;
The two wheels 62 are each independently fitted with a driving element, and a clutch structure is provided between the wheels 62 and the driving element, the two wheels 62 being independently and coaxially rotatably mounted on both sides of the base 5.
Specifically, the steering structure between the top mounting plate 1 and the chassis 3 includes a limit post 11 fixedly connected to the lower surface of the top mounting plate 1 and a limit stop 32 fixedly connected to the upper surface of the chassis 3, wherein the lower surface of the limit post 11 is shorter than the upper surface of the limit stop 32, and the limit stop 32 is located on the running track of the limit stop 32 when the limit stop 32 rotates along with the chassis 3. Further, a rotation limit position indication point is arranged on the bearing outer ring 21, a proximity sensor 12 corresponding to the rotation limit position indication point is arranged on the lower surface of the top mounting plate 1, and the proximity sensor 12 is used for steering sensing limiting between the top mounting plate 1 and the chassis 3. The platform lorry can rotate relative to the top mounting plate 1 in the turning advancing process, the proximity sensor 12 is arranged to sense and limit, and when the chassis 3 rotates to be close to the limit position, the proximity sensor 12 transmits a position signal to the control system of the lorry, and an alarm prompt is sent. If the steering is not corrected by controlling the flatbed at this time, the limiting post 11 and the limiting stop 32 are arranged, and when the chassis 3 rotates to the limit position, the limiting post 11 can block the chassis, so that the chassis is prevented from rotating too much, and the electric wires can be prevented from being damaged due to excessive torsion.
Preferably, the base 5 comprises an inner seat 51 and an outer seat 52 which are sleeved together, the inner seat 51 and the outer seat 52 are connected through two sections of half shafts 53, the two half shafts 53 are coaxial, and the connecting line of the axes of the two half shafts is perpendicular to the central axis of the wheel 62; two opposite side walls of the inner seat 51 are respectively provided with a first shaft mounting hole 513, two corresponding side walls of the outer seat 52 are respectively provided with a second shaft mounting hole 521, the inner seat 51 is sleeved inside the outer seat 52, a movable space is reserved between the two inner seats, the first shaft mounting holes 513 and the second shaft mounting holes 521 are in one-to-one correspondence, the half shaft 53 penetrates through the first shaft mounting holes 513 and the second shaft mounting holes 521 at the same time, the half shaft 53 is fixedly connected with the outer seat 52, and meanwhile, the half shaft 53 is in clearance fit with the first shaft mounting holes 513. When the flat car encounters uneven ground, the two wheels 62 are damaged to the car body part due to uneven stress caused by different heights, the structure is arranged, when the situation is encountered, the height difference of the two wheels 62 is different, the two wheels 62 can be adjusted in a self-adaptive manner, and the two wheels 62 swing slightly around the axis of the half shaft 53, so that the outer seat 52 is driven to swing slightly, the requirement of the outer seat 52 swing is met through the structural design, and therefore, the effect that the inner seat 51 and the outer seat 52 are in semi-movable connection can be realized through the half shaft 53, and relatively stable relative movement can be generated, and uneven stress caused by uneven ground is not transferred to the car body.
Preferably, the inner seat 51 is provided with a plurality of guide holes 512 corresponding to the guide columns 4 one by one, the lower parts of the guide columns 4 penetrate through the guide holes 512, and the lower ends of the guide columns 4 are fixedly connected with limit baffles 41. The guide post 4 moving up and down is restrained from coming out of the guide hole 512 by the stopper 41.
Preferably, a buffer limiting structure is arranged between the chassis 3 and the base 5; the buffer limiting structure comprises a buffer support column 31 and a spring 55; the inner seat 51 is provided with a containing groove 511, and the spring 55 is positioned in the containing groove 511 and is extruded between the lower surface of the chassis 3 and the bottom plate 514 of the containing groove 511; buffer support columns 31 are disposed at intervals between the lower surface of chassis 3 and the upper surface of outer seat 52. The buffer support columns 31 may be elastomeric columns of polyurethane material. The buffer limiting structure can prevent the chassis 3 from being in hard contact with the base 5 in the up-and-down movement process.
Preferably, a vertical wire passing column 54 is fixedly connected in the base 5, the wire passing column 54 is of a hollow tubular structure, and the wire passing column 54 penetrates through the chassis 3. The chassis 3 moves up and down along the wire passing column 54 in the up and down movement process, the wire passing column 54 can perform an auxiliary guiding function on one hand, and the hollow structure can accommodate wires of electric appliances such as a motor to pass through the wire passing column, so that the wire passing column can protect the wires and prevent the wheels 62 from steering to cause winding in the vehicle running process.
Preferably, the driving element is a servo motor 61, and the servo motor 61 and the corresponding wheel 62 are in transmission connection through a chain transmission mechanism 63; the chain tensioning mechanism is also arranged, a connecting plate 522 is fixedly connected to the base 5, and a slotted hole 5221 is arranged in the connecting plate 522; a movable plate 641 is fixedly connected to one side of an output shaft of the servo motor 61, a fan-shaped hole 643 is formed in the upper portion of the movable plate 641, the output shaft of the servo motor 61 penetrates through the oblong hole 5221, meanwhile, the movable plate 641 is attached to the connecting plate 522, the lower ends of the two are connected through a swinging rotating shaft 642, the movable plate 641 is detachably connected with the upper end of the connecting plate 522 through a fastening bolt 6431, the fastening bolt 6431 penetrates through the fan-shaped hole 643 and is simultaneously penetrated and screwed into the connecting plate 522, and a nut of the fastening bolt 6431 is tightly pressed at the hole edge of the fan-shaped hole 643; the side surface of the movable plate 641 is fixedly connected with a clamping convex block 645; the device also comprises an adjusting bolt 644, and a lock nut 646 is screwed on the adjusting bolt 644; the adjusting bolt 644 is screwed into the locking projection 645, and the end of the adjusting bolt 644 is pushed against the side of the base 5, and the lock nut 646 is pressed against one side of the locking projection 645.
The tightness of the chain can be regulated through the chain tensioning mechanism, the chain is prevented from loosening in the transmission process, when the chain is loosened and needs to be tensioned, the fastening bolt 6431 is only required to be loosened, the movable plate 641 can swing around the swing rotating shaft 642 at the lower end of the connecting plate 522, the regulating bolt 644 is screwed, the regulating bolt 644 pushes against the side surface of the base 5, the movable plate 641 and the servo motor 61 on the regulating bolt 644 are reversely driven by the clamping projection 645 to swing outwards by a small angle, the output shaft of the servo motor 61 and the driving sprocket 631 on the output shaft also move outwards along with the output shaft of the servo motor, the driving sprocket 631 gradually tightens the chain in the moving process, when the chain is felt to be tensioned in place, the fastening bolt 6431 is screwed to fixedly connect the movable plate 641 and the connecting plate 522, the locking nut 646 is screwed down afterwards, the locking nut 646 plays a role of strengthening locking, and the threaded connection between the regulating bolt 644 and the clamping projection 645 is prevented from loosening.
Further, a clutch structure is provided between the output shaft of the servo motor 61 and the drive sprocket 631; the clutch structure comprises a clutch shaft sleeve 611 which is detachably and fixedly connected to the output shaft of the servo motor 61, and a driving sprocket 631 is sleeved on the clutch shaft sleeve 611 and is connected with the clutch shaft sleeve 611 through a clutch bolt 610; the clutch shaft sleeve 611 is a stepped shaft sleeve, the middle part of the clutch shaft sleeve 611 is provided with a stepped surface 6113 for axially limiting the drive sprocket 631 on the clutch shaft sleeve 611, the front section of the clutch shaft sleeve 611 is a mounting section 6111, and the mounting section 6111 is provided with a plurality of half screw holes 6112 which are distributed circumferentially; the hole wall of the central hole of the driving sprocket 631 is provided with a plurality of half screw holes II 6311 which are in one-to-one correspondence with the half screw holes I6112; the driving sprocket 631 is sleeved on the mounting section 6111 of the clutch shaft sleeve 611, and the half screw hole I6112 and the half screw hole II 6311 are spliced to form a complete screw hole, and the clutch bolt 610 is screwed in the complete screw hole.
The clutch structure is used for disconnecting the output shaft of the servo motor 61 from the driving sprocket 631, when one of the servo motors 61 is damaged during the running process of the flat car, in order not to prevent the other servo motor 61 and the wheels 62 from working normally, the servo motor 61 needs to be disconnected from the corresponding driving sprocket 631, only the clutch bolts 610 need to be detached, the connection between the clutch shaft sleeve 611 and the driving sprocket 631 is disconnected, at this time, the abnormal action of the servo motor 61 is not transmitted to the driving sprocket 631 and the wheels 62, and at this time, the flat car can be temporarily driven to a maintenance site for maintenance by the normal operation of the other wheels 62.
Preferably, the encoder 7 for detecting the rotation angle of the bearing outer ring 21 is arranged below the top mounting plate 1; the bearing outer race 21 transmits the angle information to the encoder 7 via a meshing gear 71 and a timing belt 72 meshing therewith. The encoder 7 is used for detecting the rotation angle of the wheel 62 relative to the frame 8, is convenient for real-time monitoring, the driving wheels of the meshing gear 71 and the synchronous belt 72 are coaxial, the driven wheels of the synchronous belt 72 are arranged on the transmission shaft of the encoder 7, the synchronous belt 72 has certain flexibility, and the encoder 7 is prevented from being damaged due to hard contact when the gear is directly used for transmitting torque through the synchronous belt 72.
Preferably, a ring of inductive bumper strips 81 are mounted to the periphery of the frame 8.
Preferably, a plurality of safety guards 82 are mounted on the lower edge of the frame 8 in one-to-one correspondence with the positions of the rolling units 80. In the running process of the vehicle, an operator stands beside the vehicle and sometimes carelessly stretches the feet into the lower part of the frame 8, and the safety baffle 82 can effectively prevent the operator from stretching the feet into the lower part of the frame 8 by mistake and rolling the wheels 62.
Preferably, a plurality of tracking sensors are installed below the frame 8 for tracking the running track of the wheels 62, and laser sensors 83 are also installed at the front and rear ends of the frame 8, respectively. When an obstacle is encountered during running of the vehicle, the obstacle enters the sensing area of the laser sensor 83, and the laser sensor 83 feeds back a signal to the control system so that the control system can make a direction adjustment in time.
According to the flat car disclosed by the invention, a plurality of independent rolling units 80 are arranged below a frame 8, wherein each rolling unit 80 is provided with two wheels 62, the rotation speed of a servo motor 61 corresponding to the wheels 62 is respectively controlled through a control system of the car, so that the running of the car is realized, the running requirements of forward movement, backward movement, in-situ rotation, steering and the like can be realized, the forward movement, backward movement, steering and 90-degree translation requirements of an AGV (automatic guided vehicle) are met, the steering of the wheels 62 is mainly realized through the differential speed of the two wheels 62 in each rolling unit 80, when the rotation speeds of the two wheels 62 are inconsistent, the torque of the wheels 62 is transmitted to a base 5, the base 5 transmits the torque to a bearing outer ring 21 through a guide post 4, the bearing outer ring 21 rotates, the encoder 7 records the rotation angle and feeds back to the control system of the car, and an operator adjusts the rotation angle of the wheels 62 in real time according to the information recorded by the control system, so that the accurate steering is realized. For the AGV, each rolling unit 80 independently operates, and two wheels 62 in each rolling unit 80 are respectively and independently designed, so that the change of the running direction of the AGV when the carrying capacity is large can be conveniently realized through motor driving, the carrying capacity of the AGV is improved, and the problem of steering limitation caused by poor driving when the carrying capacity of the existing truck is large can be solved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. Heavy load AGV flatbed, its characterized in that: comprises a frame (8), a plurality of rolling units (80) are detachably arranged below the frame (8), and each rolling unit (80) comprises a top mounting plate (1), a turntable bearing (2), a chassis (3), a base (5) and two wheels (62); the rolling unit (80) is detachably arranged under the frame (8) through the top mounting plate (1);
The chassis (3) is rotatably supported and installed below the top mounting plate (1) through the turntable bearing (2), the top mounting plate (1) is detachably fixedly connected with the bearing inner ring (22) of the turntable bearing (2), and the chassis (3) is detachably fixedly connected with the bearing outer ring (21); a steering structure limit and a steering induction limit are arranged between the top mounting plate (1) and the chassis (3);
A plurality of guide posts (4) are fixedly connected under the chassis (3), and the guide posts (4) can be movably spliced in the base (5) up and down;
The two wheels (62) are respectively and independently matched with a driving element, a clutch structure is arranged between the wheels (62) and the driving element, and the two wheels (62) are respectively and independently arranged on two sides of the base (5) in a coaxial rotation way;
The base (5) comprises an inner seat (51) and an outer seat (52) which are sleeved together, the inner seat (51) and the outer seat (52) are connected through two sections of half shafts (53), the two half shafts (53) are coaxial, and the connecting line of the two shaft centers is perpendicular to the central axis of the wheel (62); a plurality of guide holes (512) which are in one-to-one correspondence with the guide posts (4) are arranged on the inner seat (51), the lower parts of the guide posts (4) penetrate through the guide holes (512), and the lower ends of the guide posts (4) are fixedly connected with limit baffles (41);
the driving element is a servo motor (61), and the servo motor (61) is in transmission connection with the corresponding wheel (62) through a chain transmission mechanism (63);
the clutch structure is arranged between an output shaft of the servo motor (61) and a driving sprocket (631) in the chain transmission mechanism (63);
The clutch structure comprises a clutch shaft sleeve (611) which is detachably and fixedly connected to an output shaft of the servo motor (61), a driving sprocket (631) is sleeved on the clutch shaft sleeve (611) and is connected with the clutch shaft sleeve through a clutch bolt (610); the clutch shaft sleeve (611) is a stepped shaft sleeve, a stepped surface (6113) for axially limiting the drive sprocket (631) on the clutch shaft sleeve (611) is arranged in the middle of the clutch shaft sleeve, the front section of the clutch shaft sleeve (611) is a mounting section (6111), and a plurality of circumferentially distributed half screw holes I (6112) are formed in the mounting section (6111); the hole wall of the central hole of the driving chain wheel (631) is provided with a plurality of half screw holes II (6311) which are in one-to-one correspondence with the half screw holes I (6112); the driving sprocket (631) is sleeved on the mounting section (6111) of the clutch shaft sleeve (611), the half screw hole I (6112) and the half screw hole II (6311) are spliced to form a complete screw hole, and the clutch bolt (610) is screwed in the complete screw hole.
2. The heavy-duty AGV pallet according to claim 1, wherein: the steering structure between the top mounting plate (1) and the chassis (3) is limited by a limiting column (11) fixedly connected to the lower surface of the top mounting plate (1) and a limiting stop (32) fixedly connected to the upper surface of the chassis (3), the lower surface of the limiting column (11) is shorter than the upper surface of the limiting stop (32), and the limiting column (11) is located on the running track of the limiting stop (32) when the limiting stop (32) rotates along with the chassis (3).
3. The heavy-duty AGV pallet according to claim 1, wherein: the bearing outer ring (21) is provided with a rotation limit position marking point, the lower surface of the top mounting plate (1) is provided with a proximity sensor (12) corresponding to the rotation limit position marking point, and the proximity sensor (12) is steering sensing limiting between the top mounting plate (1) and the chassis (3).
4. The heavy-duty AGV pallet according to claim 1, wherein: a buffer limiting structure is arranged between the chassis (3) and the base (5); the buffering limiting structure comprises a buffering supporting column (31) and a spring (55);
The inner seat (51) is provided with a containing groove (511), and the spring (55) is positioned in the containing groove (511) and is extruded between the lower surface of the chassis (3) and the bottom plate (514) of the containing groove (511); buffer support columns (31) are arranged between the lower surface of the chassis (3) and the upper surface of the outer seat (52) at intervals.
5. The heavy-duty AGV pallet according to claim 1, wherein: a vertical wire passing column (54) is fixedly connected in the base (5), the wire passing column (54) is of a hollow tubular structure, and the wire passing column (54) penetrates through the chassis (3).
6. The heavy-duty AGV pallet according to claim 1, wherein: an encoder (7) for detecting the rotation angle of the bearing outer ring (21) is arranged below the top mounting plate (1); the bearing outer ring (21) transmits the angle information to the encoder (7) via a meshing gear (71) and a timing belt (72) which mesh with the bearing outer ring.
7. The heavy-duty AGV pallet according to claim 1, wherein: a circle of induction anti-collision strips (81) are arranged on the periphery of the frame (8); a plurality of safety baffles (82) which are in one-to-one correspondence with the positions of the rolling units (80) are arranged at the lower edge of the frame (8); a plurality of tracking sensors are arranged below the frame (8), and laser sensors (83) are respectively arranged at the front end and the rear end of the frame (8).
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| CN201911294662.3A CN110843960B (en) | 2019-12-16 | 2019-12-16 | Heavy load AGV flatbed |
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| CN201911294662.3A CN110843960B (en) | 2019-12-16 | 2019-12-16 | Heavy load AGV flatbed |
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| TWI819246B (en) * | 2020-10-20 | 2023-10-21 | 緯創資通股份有限公司 | Independent-drive set, independent-drive assembly and wheeled vehicle having the same |
| CN113743867B (en) * | 2021-09-02 | 2024-02-13 | 昆明友邦制冷设备有限公司 | Novel intelligent cold chain logistics operation system |
| CN114083948A (en) * | 2021-11-24 | 2022-02-25 | 湖北三丰机器人有限公司 | Active damping based heavy-load servo omnidirectional driving device and AGV |
| CN114212732A (en) * | 2021-12-22 | 2022-03-22 | 松蒙(北京)机器人有限公司 | Active hydraulic independent suspension type electric carrier and leveling method |
| CN114228821A (en) * | 2021-12-31 | 2022-03-25 | 华晓精密工业(苏州)有限公司 | Long distance chassis mechanism and AGV |
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| CN211032815U (en) * | 2019-12-16 | 2020-07-17 | 天津朗誉科技发展有限公司 | Heavy-load AGV flat car |
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| GB792982A (en) * | 1954-08-03 | 1958-04-09 | Leverstart Ltd | Improvements in or relating to driving and steering mechanism for vehicles |
| CN106515904B (en) * | 2016-12-26 | 2021-08-27 | 同方威视技术股份有限公司 | Mobile platform |
| CN109533088A (en) * | 2018-12-28 | 2019-03-29 | 天津朗誉科技发展有限公司 | A kind of AGV vehicle that vehicle frame moves up |
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