CN111152710A - AVG conveyor - Google Patents
AVG conveyor Download PDFInfo
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- CN111152710A CN111152710A CN202010114444.3A CN202010114444A CN111152710A CN 111152710 A CN111152710 A CN 111152710A CN 202010114444 A CN202010114444 A CN 202010114444A CN 111152710 A CN111152710 A CN 111152710A
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- 241000380131 Ammophila arenaria Species 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 230000008439 repair process Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/06—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles
- B60P3/07—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying vehicles for carrying road vehicles
- B60P3/073—Vehicle retainers
- B60P3/075—Vehicle retainers for wheels, hubs, or axle shafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention provides an AVG conveying device, which comprises a vehicle body, a steering wheel mounting assembly and a wheel clasping mechanism, wherein the vehicle body comprises a first vehicle frame, a second vehicle frame and a connecting frame; embrace wheel mechanism including embracing the wheel list piece with guide rail correspondence setting in first frame and the second frame respectively, embrace the wheel list piece including embracing subassembly and lifting unit tightly. By applying the technical scheme of the invention, the effects are as follows: the whole structure is simplified, and the whole AVG conveying device is convenient to walk and convey by the design of the steering wheel mounting assembly; the design of embracing the wheel mechanism is convenient for embrace the vehicle tightly and drive the wheel stick of embracing behind embracing tightly the vehicle and carry out the adaptability and go up and down, combines the design of steering wheel stick again, realizes the automatic safety inspection of crossing of vehicle, need not navigating mate operation vehicle, and is efficient and the security is high.
Description
Technical Field
The invention relates to the technical field of vehicle manufacturing, in particular to an AGV conveying device.
Background
The automobile is one of the main transportation means at present, and in order to prevent the trolley from carrying prohibited articles, the automobile needs to be scanned and checked, such as an intelligent parking lot, customs, a large meeting place and the like. The prior vehicle security inspection scanning conveying is mostly realized by a plate chain conveying device, a chain push roller type conveying device and the like.
In the prior art, the two modes both need to embed the conveying line under the ground, the conveying surface is flush with the ground, more civil engineering works are needed, and the method is only suitable for inspection and scanning of a fixed place and is difficult to dismantle and repair; drivers or passengers are susceptible to scanning radiation during the screening process, causing physical harm.
Therefore, the AGV conveying device which is simple in structure, capable of effectively conveying vehicles to pass through security inspection and high in safety has important significance.
Disclosure of Invention
The invention aims to provide an AGV conveying device which is simple in structure, can effectively convey vehicles to pass safety inspection and is high in safety, and the specific scheme is as follows:
an AVG conveying device comprises a vehicle body, a steering wheel mounting assembly and a wheel clasping mechanism;
the vehicle body comprises a first frame, a second frame and a connecting frame, wherein two ends of the connecting frame are respectively connected with the first frame and the second frame;
the steering wheel mounting assembly comprises a steering wheel single piece which is respectively arranged corresponding to the first frame and the second frame, the steering wheel single piece comprises a base, a buffer connecting piece, a steering wheel and a steering mechanism, the base is connected with the first frame or the second frame, the steering wheel is movably connected with the base through the buffer connecting piece, and the steering mechanism is connected with the steering wheel to realize steering of the steering wheel;
embrace the wheel mechanism and include embracing the wheel singleton with first frame and second frame correspondence setting respectively, embrace the wheel singleton including being used for embracing the subassembly of hugging closely and being used for driving and hug closely behind the vehicle and embrace the wheel singleton and go up and down the lifting unit.
Preferably, in the above technical scheme, the first frame and the second frame are both composed of an upper structure and a lower structure, and the upper structure is of a steel pipe truss structure.
Preferably, in the above technical scheme, the single rudder wheel further comprises a limiting plate, a guide sleeve and a guide rod, the limiting plate is arranged right below the base, and the limiting plate is connected with the base through a buffer connecting piece; the upper end of guide bar is connected with the limiting plate, and its lower extreme inserts the upper end setting of uide bushing, the lower extreme and the steering wheel of uide bushing are connected.
Preferably, in the above technical solution, the buffer connecting piece includes four sets of guide posts with buffer springs; the steering mechanism comprises a steering motor, a steering gear and a rotating bearing seat, the steering gear is sleeved on an output shaft of the steering motor, the rotating bearing seat is connected with the steering wheel, and a gear meshed with the steering gear is arranged on the rotating bearing seat.
Preferred among the above technical scheme, still including setting up encoder and the automatic trail navigation sensor of seeking on the steering wheel, the encoder is used for calculating the rotational speed of steering wheel, the automatic trail navigation sensor of seeking is used for confirming AGV conveyor's walking orbit with the magnetic stripe that ground was laid in advance.
Preferably, in the above technical solution, the clasping assembly includes a clasping fork frame, a clasping fork base plate, a first driving mechanism, a pushing frame and a fork arm;
the bottom of the embracing fork frame is connected with a embracing fork bottom plate, a first driving mechanism is arranged on the embracing fork bottom plate and connected with a pushing frame, two ends of the pushing frame are respectively connected with a fork arm through a connecting rod, and the fork arms are rotatably connected to the embracing fork bottom plate; the push frame is driven by the first driving mechanism to push the fork arms at the two ends to rotate inwards and contract so as to clamp wheels of the trolley.
Preferably, in the above technical solution, the lifting assembly includes a lifting frame and a second driving mechanism; two opposite inner sides of the lifting frame are provided with sliding rails, and two opposite outer sides of the fork holding frame are connected with the sliding rails of the lifting frame in a sliding manner; and the second driving mechanism is arranged on the lifting frame and connected with the holding fork frame to drive the holding fork frame to move on a sliding track of the lifting frame so as to realize the lifting of the holding fork mechanism.
Preferably, in the above technical solution, the first driving mechanism includes a first driving motor and a first ball screw mechanism; the first driving motor is connected with the first ball screw mechanism through a chain wheel and a chain in a transmission mode and is used for driving a screw rod of the first ball screw mechanism to rotate; the first driving motor is arranged above the holding fork bottom plate, and the first ball screw mechanism, the pushing frame and the connecting rod are arranged below the holding fork bottom plate; a screw nut of the first ball screw mechanism is fixed on the pushing frame, and a screw is matched with the screw nut to drive the pushing frame to do linear motion;
the second driving mechanism comprises a first oil cylinder or a first air cylinder, the first oil cylinder or the first air cylinder is arranged on the lifting frame, and the output end of the first oil cylinder or the first air cylinder is connected with the holding fork frame; or the second driving mechanism comprises a second driving motor and a second ball screw mechanism, the second driving motor is arranged on the lifting frame, and the output end of the second driving motor is connected with the second ball screw mechanism; the second ball screw mechanism is arranged on the lifting frame and extends along the direction of the sliding track, and a holding fork bottom plate of the holding fork mechanism is sleeved on a ball screw of the second driving mechanism.
Preferably, the wheel-holding mechanism further comprises a wheel-base adjusting mechanism, wherein guide rails are correspondingly arranged on the first frame and the second frame along the length direction of the vehicle body, and the wheel-holding mechanism comprises wheel-holding single pieces which are correspondingly arranged with the guide rails in the first frame and the second frame respectively;
the wheel base adjusting mechanism comprises wheel base adjusting single pieces which are respectively arranged corresponding to the first frame and the second frame, each wheel base adjusting single piece comprises a third driving mechanism, a third ball screw and a limiting piece, the wheel embracing single piece is connected with the third ball screw and limited through the limiting piece, the third driving mechanism is connected with the third ball screw and drives the third ball screw to act so as to realize the adjustment of the position of the wheel embracing single piece, and the requirements of transporting trolleys with different wheel bases are met; the limiting part is a nut matched with the third ball screw.
Preferred among the above technical scheme, still include laser anticollision sensor and camera, laser anticollision sensor and camera all set up on the link.
The technical scheme of the invention has the following beneficial effects:
1. the AVG conveying device comprises a vehicle body, a steering wheel mounting assembly and a wheel clasping mechanism, wherein the vehicle body comprises a first vehicle frame, a second vehicle frame and a connecting frame; the steering wheel mounting assembly comprises a steering wheel single piece which is arranged corresponding to the first frame and the second frame respectively, and the steering wheel single piece comprises a base, a buffer connecting piece, a steering wheel and a steering mechanism; embrace the wheel mechanism and include embracing the wheel singleton that corresponds the setting with guide rail in first frame and the second frame respectively, embrace the wheel singleton including being used for embracing the subassembly of hugging closely and being used for driving the lifting unit who embraces the wheel singleton behind the vehicle and go up and down. The whole structure is simplified, and the whole AVG conveying device is convenient to walk and convey by the design of the steering wheel mounting assembly; the design of embracing the wheel mechanism is convenient for embrace the vehicle tightly and drive the wheel stick of embracing behind embracing tightly the vehicle and carry out the adaptability and go up and down, combines the design of steering wheel stick again, realizes the automatic safety inspection of crossing of vehicle, need not navigating mate operation vehicle, and is efficient and the security is high.
2. The first frame and the second frame are both composed of an upper structure and a lower structure, the upper structure is of a steel pipe truss structure, and the steel pipe truss structure is high in overall rigidity and good in stability; the preferable connecting frames are connected with the tops of the first frame and the second frame, and the whole frame is hollow and high, so that the vehicle is convenient to convey; the guide rail is welded on the lower structure; the guide rail adopts the U-shaped structure, and the part is designed easily.
3. The single rudder wheel also comprises a limiting plate, a guide sleeve and a guide rod, so that the elastic connection between the rudder wheel and the base is ensured; the buffer connecting piece comprises four groups of guide posts with buffer springs, and the buffer performance is good; the steering mechanism comprises a steering motor, a steering gear and a rotating bearing seat, has a simple structure and can effectively realize steering operation of the steering wheel; the design of the encoder and the automatic tracking navigation sensor can effectively acquire the rotating speed of the steering wheel and the walking track of the AGV conveying device in time.
4. The fork holding mechanism comprises a fork holding frame, a fork holding bottom plate, a first driving mechanism, a pushing frame and a fork arm, is ingenious in structural design, and can effectively and stably hold a vehicle tightly; the lifting mechanism comprises a lifting frame and a second driving mechanism, and can effectively realize the lifting of the fork holding mechanism, so that the AGV conveying device can convey the vehicle conveniently; the structural design of the first driving mechanism and the second driving mechanism can be determined according to actual conditions, and the requirement that the vehicle is tightly held and the fork mechanism is lifted can be met.
5. The wheel base adjusting mechanism comprises wheel base adjusting single pieces which are respectively arranged corresponding to the first frame and the second frame, the wheel base adjusting single pieces comprise a third driving mechanism, a third ball screw and a limiting piece, the distance between the two groups of wheel holding single pieces can be conveniently adjusted along the length direction of the vehicle body, the conveying requirements of vehicles with different wheel bases are met, and the wheel base adjusting mechanism is high in practicability.
6. The automatic guided vehicle anti-collision system further comprises a laser anti-collision sensor and a camera, so that the vehicle to be conveyed can be effectively prevented from being collided, the state of the vehicle and the state of the AGV conveying device can be controlled in real time through the camera, and the vehicle conveying operation is facilitated.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an AVG conveying device in an embodiment;
FIG. 2 is a schematic structural view of the rudder wheel mounting unit of FIG. 1;
FIG. 3 is a schematic structural view of the clasping assembly of FIG. 1;
FIG. 4 is a schematic view of a partial connection of the axle distance adjusting unit, the second frame and the wheel clasping mechanism of FIG. 1;
the automatic tracking and tracking device comprises a vehicle body 1, a vehicle body 1.1, a first vehicle frame 1.2, a second vehicle frame 1.3, a connecting frame 1.4, a guide rail 2, a steering wheel mounting assembly 2.1, a base 2.2, a buffer connecting piece 2.3, a steering wheel 2.4, a steering mechanism 2.41, a steering motor 2.42, a steering gear 2.43, a rotary bearing seat 2.5, a limiting plate 2.6, an encoder 2.7, an automatic tracking and navigation sensor 3, a wheel clasping mechanism 3.1, a clasping assembly 3.11, a fork clasping frame 3.12, a fork clasping bottom plate 3.13, a first driving mechanism 3.14, a pushing frame 3.15, a fork arm 3.2, a lifting assembly 3.21, a lifting frame 3.22, a second driving mechanism 4, a shaft distance adjusting mechanism 4.1, a third driving mechanism 4.2, a third ball, a limiting piece 4.3 and a screw rod.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example (b):
an AVG conveying device comprises a vehicle body 1, a steering wheel mounting assembly 2, a wheel embracing mechanism 3 and a wheel base adjusting mechanism 4, wherein the details are shown in figure 1 and are as follows:
the vehicle body 1 comprises a first vehicle frame 1.1, a second vehicle frame 1.2 and a connecting frame 1.3, wherein two ends of the connecting frame 1.3 are respectively connected with the first vehicle frame 1.1 and the second vehicle frame 1.2. Preferably, the first frame 1.1 and the second frame 1.2 are both composed of an upper structure and a lower structure, and the upper structure adopts a steel pipe truss structure; the first frame 1.1 and the second frame 1.2 are respectively provided with a guide rail 1.4 along the length direction of the vehicle body, and the guide rails 1.4 are welded on a lower structure; the guide rail 1.4 adopts a U-shaped structure.
The steering wheel mounting assembly 2 comprises steering wheel single pieces which are respectively arranged corresponding to the first frame 1.1 and the second frame 1.2, four sets of steering wheel single pieces are illustrated in the figure 1, two sets of steering wheel single pieces are arranged at the front end and the rear end of the first frame, and the other two sets of steering wheel single pieces are arranged at the front end and the rear end of the second frame. The single steering wheel comprises a base 2.1, a buffer connecting piece 2.2, a steering wheel 2.3, a steering mechanism 2.4, a limiting plate 2.5, a guide sleeve and a guide rod, which are detailed in fig. 2, wherein the base 2.1 is connected with the first frame 1.1 or the second frame 1.2, the limiting plate 2.5 is arranged under the base 2.1, and the limiting plate is connected with the base 2.1 through the buffer connecting piece 2.2; the upper end and the limiting plate of guide bar are connected, and its lower extreme inserts the upper end setting of uide bushing, the lower extreme and the helm 2.3 of uide bushing are connected, steering mechanism 2.4 is connected with helm 2.3 and realizes turning to of helm. Preferably, the buffer connecting piece 2.2 comprises four groups of guide posts with buffer springs; the steering mechanism 2.4 comprises a steering motor 2.41, a steering gear 2.42 and a rotary bearing seat 2.43, the steering gear 2.42 is sleeved on an output shaft of the steering motor 2.41, the rotary bearing seat 2.43 is connected with the steering wheel 2.3, and a gear meshed with the steering gear 2.42 is arranged on the rotary bearing seat 2.43.
In this embodiment, still including setting up encoder 2.6 and the automatic tracking navigation sensor 2.7 on the steering wheel 2.3, encoder 2.6 is used for calculating the rotational speed of steering wheel, the automatic tracking navigation sensor 2.7 (can directly purchase, can realize that the location navigation can) is used for confirming AGV conveyor's walking orbit with the magnetic stripe that ground was laid in advance.
the clasping assembly 3.1 comprises a clasping fork frame 3.11, a clasping fork base plate 3.12, a first driving mechanism 3.13, a pushing frame 3.14 and a fork arm 3.15, the bottom of the clasping fork frame 3.11 is connected with the clasping fork base plate 3.12, the clasping fork base plate 3.12 is provided with the first driving mechanism 3.13, the first driving mechanism 3.13 is connected with the pushing frame 3.14, two ends of the pushing frame 3.14 are respectively connected with a fork arm 3.15 through a connecting rod (the fork arm can rotate 90 degrees in the horizontal plane), and the fork arm 3.15 is rotatably connected to the clasping fork base plate 3.12; the push frame is driven by the first driving mechanism to push the two fork arms at the two ends to rotate inwards or outwards to contract or expand, and the wheels of the trolley are clamped or loosened (namely the two fork arms move towards each other to clamp the tires of the trolley, and the two fork arms move towards opposite directions to open and release the tires of the trolley)). Preferably, the first driving mechanism includes a first driving motor and a first ball screw mechanism; the first driving motor is connected with the first ball screw mechanism through a chain wheel and a chain in a transmission mode and is used for driving a screw rod of the first ball screw mechanism to rotate; the first driving motor is arranged above the holding fork bottom plate, and the first ball screw mechanism, the pushing frame and the connecting rod are arranged below the holding fork bottom plate; the lead screw nut of the first ball screw mechanism is fixed on the pushing frame, and the lead screw is matched with the lead screw nut to drive the pushing frame to do linear motion.
The lifting assembly 3.2 comprises a lifting frame 3.21 and a second driving mechanism 3.22; two opposite inner sides of the lifting frame 3.21 are provided with sliding rails, and two opposite outer sides of the fork holding frame 3.11 are connected with the sliding rails of the lifting frame 3.21 in a sliding manner; and the second driving mechanism 3.22 is arranged on the lifting frame 3.21, and the second driving mechanism 3.22 is connected with the holding fork frame 3.11 and used for driving the holding fork frame to move on a sliding track of the lifting frame so as to realize the lifting of the holding fork mechanism. Preferably, the second driving mechanism comprises a second driving motor and a second ball screw mechanism, the second driving motor is arranged on the lifting frame, and the output end of the second driving motor is connected with the second ball screw mechanism; the second ball screw mechanism is arranged on the lifting frame and extends along the direction of the sliding track, and a holding fork bottom plate of the holding fork mechanism is sleeved on a ball screw of the second driving mechanism. The second driving mechanism can also adopt a first oil cylinder or a first air cylinder according to actual conditions, the first oil cylinder or the first air cylinder is arranged on the lifting frame, and the output end of the first oil cylinder or the first air cylinder is connected with the holding fork frame.
The wheel-holding single piece is connected with the third ball screw 4.2 and limited by the limiting piece 4.3, the third driving mechanism 4.1 is connected with the third ball screw 4.2 and drives the third ball screw to act so as to realize the adjustment of the position of the wheel-holding single piece, and the requirements of transporting trolleys with different wheel bases are met; and the limiting part 4.3 adopts a nut matched with the third ball screw.
In this embodiment, the device further includes a laser anti-collision sensor (not shown) and a camera (not shown), and both the laser anti-collision sensor and the camera are arranged on the connecting frame 1.3.
The scheme of the embodiment is specifically applied as follows:
the steering wheel in the steering wheel mounting assembly 2 is driven to move to the position of the vehicle to be conveyed, and a steering motor in a steering mechanism can be adjusted according to requirements to realize steering of the AGV conveying device in the moving process; the rotating speed of the steering wheel can be obtained through an encoder 2.6, and the walking track of the AGV conveying device is obtained through an automatic tracking navigation sensor 2.7;
the wheelbase adjusting single action in the wheelbase adjusting mechanism 4 is specifically as follows: the third driving mechanism 4.1 drives the third ball screw to act to realize the adjustment of the position of a wheel holding single piece, and the requirements of transporting trolleys with different wheelbases are met;
embrace subassembly 3.1 actions of holding tightly in wheel mechanism 3, specifically be: the push frame is driven by the first driving mechanism to push the fork arms at the two ends to rotate inwards and contract so as to clamp wheels of the trolley; the lifting component 3.2 acts, specifically: the second driving mechanism drives the holding fork frame to move on a sliding track of the lifting frame, so that the holding fork mechanism is lifted, and then the holding assembly of the holding trolley is driven to lift to a proper position;
the steering wheel of the steering wheel mounting assembly 2 travels to a detection position to detect the vehicle.
Besides, the laser anti-collision sensor can effectively prevent the vehicle to be conveyed from being collided, and the camera can control the state of the vehicle and the state of the AGV conveying device in real time, so that the vehicle conveying operation is facilitated.
The automatic tracking and tracking control system can further comprise a controller, preferably a PLC (programmable logic controller), wherein the laser anti-collision sensor, the camera, the encoder, the automatic tracking and navigation sensor, the steering motor, the steering wheel, the first driving mechanism, the second driving mechanism and the third driving mechanism are all connected with the PLC controller, and therefore automatic control of all actions of the AGV conveying device is achieved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An AVG conveying device is characterized by comprising a vehicle body (1), a steering wheel mounting assembly (2) and a wheel clasping mechanism (3);
the vehicle body (1) comprises a first vehicle frame (1.1), a second vehicle frame (1.2) and a connecting frame (1.3), wherein two ends of the connecting frame (1.3) are respectively connected with the first vehicle frame (1.1) and the second vehicle frame (1.2);
the steering wheel mounting assembly (2) comprises a steering wheel single piece which is correspondingly arranged with a first frame (1.1) and a second frame (1.2) respectively, the steering wheel single piece comprises a base (2.1), a buffer connecting piece (2.2), a steering wheel (2.3) and a steering mechanism (2.4), the base (2.1) is connected with the first frame (1.1) or the second frame (1.2), the steering wheel (2.3) is movably connected with the base (2.1) through the buffer connecting piece (2.2), and the steering mechanism (2.4) is connected with the steering wheel (2.3) to realize steering of the steering wheel;
embrace wheel mechanism (3) including embracing the wheel singleton with first frame (1.1) and second frame (1.2) correspondence setting respectively, embrace the wheel singleton including being used for embracing tightly subassembly (3.1) and being used for driving and embracing behind the vehicle and embrace the wheel singleton and carry out lifting unit (3.2) that go up and down.
2. The AVG transport apparatus of claim 1, wherein the first carriage (1.1) and the second carriage (1.2) are each comprised of an upper structure and a lower structure, the upper structure being a steel pipe truss structure.
3. The AVG conveying device according to claim 1, wherein the steering wheel single piece further comprises a limiting plate (2.5), a guide sleeve and a guide rod, the limiting plate (2.5) is arranged right below the base (2.1), and the limiting plate is connected with the base (2.1) through a buffer connecting piece (2.2); the upper end of the guide rod is connected with the limiting plate, the lower end of the guide rod is inserted into the upper end of the guide sleeve, and the lower end of the guide sleeve is connected with the steering wheel (2.3).
4. An AVG transport device according to claim 3, characterized in that the buffer connection (2.2) comprises four sets of guide posts with buffer springs; steering mechanism (2.4) are including steering motor (2.41), steering gear (2.42) and rotating bearing frame (2.43), steering gear (2.42) cover is established on the output shaft of steering motor (2.41), rotating bearing frame (2.43) with steering wheel (2.3) are connected, just be equipped with the gear with steering gear (2.42) engaged with on rotating bearing frame (2.43).
5. The AVG transport of claim 4, further comprising an encoder (2.6) and an automatic tracking navigation sensor (2.7) arranged on the steering wheel (2.3), the encoder (2.6) is used for calculating the rotation speed of the steering wheel, and the automatic tracking navigation sensor (2.7) is used for determining the travel track of the AGV transport with the magnetic strip pre-laid on the ground.
6. The AVG transport device of claim 1, wherein the clasping assembly (3.1) comprises a clasping fork frame (3.11), a clasping fork base plate (3.12), a first driving mechanism (3.13), a pushing frame (3.14) and a fork arm (3.15);
the bottom of the embracing fork frame (3.11) is connected with a embracing fork bottom plate (3.12), a first driving mechanism (3.13) is arranged on the embracing fork bottom plate (3.12), the first driving mechanism (3.13) is connected with a pushing frame (3.14), two ends of the pushing frame (3.14) are respectively connected with a fork arm (3.15) through a connecting rod, and the fork arms (3.15) are rotatably connected to the embracing fork bottom plate (3.12); the push frame is driven by the first driving mechanism to push the fork arms at the two ends to rotate inwards and contract so as to clamp wheels of the trolley.
7. The AVG transport apparatus of claim 6, wherein the lifting assembly (3.2) comprises a lifting frame (3.21) and a second drive mechanism (3.22); two opposite sides of the lifting frame (3.21) are provided with sliding rails, and two opposite sides of the holding fork frame (3.11) are connected with the sliding rails of the lifting frame (3.21) in a sliding manner; and the second driving mechanism (3.22) is arranged on the lifting frame (3.21), and the second driving mechanism (3.22) is connected with the holding fork frame (3.11) and used for driving the holding fork frame to move on a sliding track of the lifting frame so as to realize the lifting of the holding fork mechanism.
8. The AVG transport device of claim 7, wherein the first drive mechanism includes a first drive motor and a first ball screw mechanism; the first driving motor is connected with the first ball screw mechanism through a chain wheel and a chain in a transmission mode and is used for driving a screw rod of the first ball screw mechanism to rotate; the first driving motor is arranged above the holding fork bottom plate, and the first ball screw mechanism, the pushing frame and the connecting rod are arranged below the holding fork bottom plate; a screw nut of the first ball screw mechanism is fixed on the pushing frame, and a screw is matched with the screw nut to drive the pushing frame to do linear motion;
the second driving mechanism comprises a first oil cylinder or a first air cylinder, the first oil cylinder or the first air cylinder is arranged on the lifting frame, and the output end of the first oil cylinder or the first air cylinder is connected with the holding fork frame; or the second driving mechanism comprises a second driving motor and a second ball screw mechanism, the second driving motor is arranged on the lifting frame, and the output end of the second driving motor is connected with the second ball screw mechanism; the second ball screw mechanism is arranged on the lifting frame and extends along the direction of the sliding track, and a holding fork bottom plate of the holding fork mechanism is sleeved on a ball screw of the second driving mechanism.
9. The AVG conveying device according to any of the claims 1 to 8, further comprising a wheel base adjusting mechanism (4), wherein the first frame (1.1) and the second frame (1.2) are respectively provided with a guide rail (1.4) along the length direction of the vehicle body, and the wheel embracing mechanism (3) comprises wheel embracing single pieces which are respectively arranged corresponding to the guide rails (1.4) in the first frame (1.1) and the second frame (1.2);
the wheel base adjusting mechanism (4) comprises a wheel base adjusting single piece which is respectively arranged corresponding to the first frame (1.1) and the second frame (1.2), the wheel base adjusting single piece comprises a third driving mechanism (4.1), a third ball screw (4.2) and a limiting piece (4.3), the wheel embracing single piece is connected with the third ball screw (4.2) and limited by the limiting piece (4.3), and the third driving mechanism (4.1) is connected with the third ball screw (4.2) and drives the third ball screw to move so as to realize the adjustment of the position of the wheel embracing single piece and meet the requirements of conveying trolleys with different wheel bases; the limiting piece (4.3) adopts a nut matched with the third ball screw.
10. The AVG delivery device of claim 1, further comprising a laser anti-collision sensor and a camera, both of which are disposed on the link (1.3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114444.3A CN111152710B (en) | 2020-02-25 | 2020-02-25 | AVG conveyor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114444.3A CN111152710B (en) | 2020-02-25 | 2020-02-25 | AVG conveyor |
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| CN111152710A true CN111152710A (en) | 2020-05-15 |
| CN111152710B CN111152710B (en) | 2024-06-28 |
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| CN202010114444.3A Active CN111152710B (en) | 2020-02-25 | 2020-02-25 | AVG conveyor |
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| CN (1) | CN111152710B (en) |
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| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
| CN112925312A (en) * | 2021-01-22 | 2021-06-08 | 杭州海康机器人技术有限公司 | Unmanned carrying vehicle |
| CN114940452A (en) * | 2022-04-20 | 2022-08-26 | 上海汇聚自动化科技有限公司 | Transfer robot and transfer system |
| CN117584842A (en) * | 2024-01-19 | 2024-02-23 | 烟台港股份有限公司汽车码头分公司 | AGV for transfer vehicle |
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| CN109878597A (en) * | 2019-04-18 | 2019-06-14 | 浙江大学昆山创新中心 | An AGV trolley with precision shock-absorbing steering wheel |
| CN211641986U (en) * | 2020-02-25 | 2020-10-09 | 株洲中车特种装备科技有限公司 | AVG conveyor |
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| CN112606801A (en) * | 2020-12-01 | 2021-04-06 | 北京星航机电装备有限公司 | Adjustable wheelbase formula is parked and is used AGV |
| CN112925312A (en) * | 2021-01-22 | 2021-06-08 | 杭州海康机器人技术有限公司 | Unmanned carrying vehicle |
| CN114940452A (en) * | 2022-04-20 | 2022-08-26 | 上海汇聚自动化科技有限公司 | Transfer robot and transfer system |
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|---|---|
| CN111152710B (en) | 2024-06-28 |
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