CN111572670A - An obstacle crossing device applied to AGV trolley - Google Patents

Abstract

The invention relates to an obstacle crossing device applied to an AGV trolley, comprising a platform, front and rear wheel mounting plates, and a plurality of push rod motors. , The bottom surface of the rear wheel mounting plate is connected to the platform push rod motor between the top surface of the front wheel mounting plate and the platform top surface, and the front and rear sides of the platform bottom surface are respectively connected to the two load-bearing wheels through the two load-bearing wheel push rod motors. The front and rear sides of the bottom surface of the front and rear wheel mounting plates are respectively connected to the two front and rear wheels through the front and rear wheel push rod motors. The invention adopts the AGV trolley equipped with the Mecanum wheel, and uses the push rod motor to realize the purpose of climbing steps and crossing obstacles such as rodent-proof baffles of the patrol robot in the substation, and realizes the all-terrain three-dimensional patrol of the indoor substation.

Description

An obstacle crossing device applied to AGV trolley

technical field

The invention belongs to the field of automation, and relates to an AGV trolley, in particular to an obstacle crossing device applied to the AGV trolley.

Background technique

In recent years, the number of substations put into use has increased year by year, and the complexity of equipment operation in substations has increased day by day, which has increased the workload of relevant operation and maintenance personnel. The existing control methods can no longer meet the requirements of power grid development and operation and maintenance. And with the increasing number of unmanned substations, daily inspections of substations have become particularly important. A small number of outdoor substations use intelligent patrol robots to patrol, and indoor substations mainly use manual patrols. The main reasons for the manual inspection of indoor substations are: In order to save land use in the building structure of indoor substations, most of the equipment in the substations are arranged on different floors. All of these have hindered the inspection according to the trajectory of the automatic inspection robot in the indoor substation.

With the development of the economy, the application of AGV trolleys (automatic guided vehicles) in the production process of equipment manufacturing industry is a key point, which plays an important role in improving the production efficiency of enterprises, reducing costs, improving product quality and management level.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a device for crossing obstacles that is applied to an AGV trolley. The AGV trolley is used to carry a Mecanum wheel, and the push rod motor is used to realize the climbing steps and crossing prevention of the patrol robot in the substation. Rat baffles and other obstacles.

The technical scheme adopted by the present invention to solve the technical problem is:

An obstacle crossing device applied to an AGV car, comprising a platform, front and rear wheel mounting plates, and a plurality of push rod motors. The bottom surface of the mounting plate is connected to the platform push rod motor between the top surface of the front wheel mounting plate and the top surface of the platform. The front and rear sides of the platform bottom surface are respectively connected to the two load-bearing wheels through the two load-bearing wheel push rod motors. The front and rear sides of the bottom surface of the wheel mounting plate are respectively connected to the two front and rear wheels through the front and rear wheel push rod motors.

Moreover, the front and rear wheels are both Mecanum wheels.

Moreover, the device is powered by a DC rechargeable battery, which is carried on the platform.

Moreover, patrol equipment is mounted on the top surface of the platform.

Moreover, the stroke of the push rod motor is selected according to the height and width of the step.

Moreover, the motor of the Mecanum wheel adopts 36GP-555 permanent magnet planetary coding geared motor.

The advantages and positive effects of the present invention are:

The invention adopts the AGV trolley equipped with the Mecanum wheel, and uses the push rod motor to realize the purpose of climbing steps and crossing obstacles such as rodent-proof baffles of the patrol robot in the substation, and realizes the all-terrain three-dimensional patrol of the indoor substation.

Description of drawings

1 is a front view of the device;

Fig. 2 is the bottom view of Fig. 1;

FIG. 3 is a schematic diagram of the process of crossing obstacles of the device.

Detailed ways

The present invention will be further described in detail below through specific examples. The following examples are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.

An obstacle crossing device applied to an AGV car, including a platform 5 for carrying patrol equipment, front and rear wheel mounting plates 1, 8, a plurality of push rod motors, and a plurality of Mecanum wheels, on the left and right sides of the platform. Connect the front and rear wheel mounting plates through push rod motors respectively. The motor parts of the push rod motors 4 and 7 of the front and rear wheel mounting plates are respectively fixed on the left and right sides of the bottom surface of the platform, and the push rod ends of the push rod motors of the front and rear wheel mounting plates are respectively fixed and connected to the front and rear wheel mounting plates. . The motor part of the platform push rod motor 3 is fixedly installed on the top surface of the front wheel mounting plate, and the push rod end of the platform push rod motor is fixedly connected to the top surface of the platform. The motor parts of the two load-bearing wheel push rod motors 6 are symmetrically fixed on the front and rear sides of the bottom of the platform. The motor parts of the two front wheel push rod motors 2 are symmetrically fixed on the front and rear sides of the bottom surface of the front wheel mounting plate 1, and the push rod ends of the two front wheel push rod motors are respectively connected and fixed with a front Mecanum wheel bearing sleeve 13, the front The mecanum wheel bearing sleeve is used to install the front mecanum wheel 10 , and the front mecanum wheel is driven by the mecanum wheel motor 14 . Similarly, the motor parts of the two rear wheel push rod motors 9 are symmetrically fixed on the front and rear sides of the bottom surface of the rear wheel mounting plate 8, and the push rod ends of the two rear wheel push rod motors are respectively connected and fixed with a rear Mecanum wheel bearing sleeve, The rear mecanum wheel bearing sleeve is used to install the rear mecanum wheel 12 , and the rear mecanum wheel is driven by the mecanum wheel motor 16 .

The process of this device overcoming obstacles takes three steps as an example:

The first step, the bearing wheel touches the ground;

In the second step, the pushrod motor of the rear wheel and the load-bearing wheel does a push-out action, so that the platform and the front and rear wheel mounting plates are raised to the height of 2 steps;

In the third step, the push rod motor of the front wheel mounting plate makes a push-out action to separate the front wheel mounting plate from the platform and reach the top of the second step. The front Mecanum wheel is in contact with the second step, and the push rod motor of the platform follows do push action;

The fourth step, the push rod motor of the load-bearing wheel does a retraction action, so that the load-bearing wheel is raised to the height of one step;

The fifth step, the platform push rod motor makes a retraction action, and pulls the platform and the load-bearing wheel to the top of the first step, so that the load-bearing wheel is in contact with the first step, and the push rod motor of the two rear wheel mounting plates follows to push action;

The sixth step, the push rod motor of the rear wheel mounting plate does the retracting action.

The purpose of ascending the trolley can be achieved by controlling the push rod motor, and the steps of descending the steps can be reversed.

Crossing the anti-rat baffle can be understood as a step, and the platform can be lifted so that the Mecanum wheel and the load-bearing wheel pass over the baffle respectively.

Due to the standardized design of the substation, the lifting and elongation distance of the trolley is adjusted according to the requirements for steps and anti-rodent baffles in the Civil Engineering Design Code for Substations of State Grid Corporation of China.

The step size is set as the step width 0.30m and the step height 0.16m with reference to the national standard requirements.

The process of installing the steps is to take steps with a step width of 0.30m and a step height of 0.16m. The front wheel of the installation is lifted by 2 steps as an example. In practical applications, the loading platform of the installation is increased, and the size of the installation can be increased without affecting the size of the installation. In the case of stability, the number of front wheel lifting steps can be increased, and correspondingly, the distance between the front, middle and rear wheels needs to be increased.

The device is powered by a DC rechargeable battery, 24V200Ah, and is mounted on the cargo platform.

The platform is made of 5mm thick steel plate.

Mecanum wheel parameters: size: diameter 6 inches / 152.4mm, weight: about 700g / piece, small rollers are full bearing structure, a set of four bearing 150Kg, the middle hole diameter is 20mm, surrounded by 6 diameter 45mm The distribution circle is equally divided, the size is 5.20mm in diameter, and the overall thickness of the wheel is 45mm.

Mecanum wheel motor parameters: Model: 36GP-555 Permanent Magnet Planetary Coded Geared Motor, Size: 36*114mm (excluding shaft and terminal), shaft length: 20.0MM one-way shaft, shaft diameter: 8mmD-shaped Shaft double ball bearing positioning structure, voltage: 24V, weight: about 480g, wiring specification: PH2.0-6PIN terminal connector, encoder specification: AB dual-phase encoder 11-wire basic signal voltage 3.3V or 5.0V

Push rod motor parameters:

Front and rear wheel mounting plate push rod motors: working voltage 24V; thrust 250N; speed 48mm/s; stroke 650mm;

Front and rear wheel push rod motors and bearing wheel push rod motors: working voltage 24V; thrust 1000N; speed 12mm/s; stroke 400mm;

Platform push rod motor: working voltage 24V; thrust 1000N; speed 12mm/s; stroke 650mm;

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept, several modifications and improvements can be made, which belong to the present invention. protected range.

Claims (6)

1. an obstacle-crossing device applied to AGV trolley, it is characterized in that: comprise platform, front and rear wheel mounting plates, a plurality of push rod motors, respectively pass the front and rear wheel mounting plate push rods on the left and right sides of the bottom surface of the platform The motor is connected to the bottom surface of the front and rear wheel mounting plates, and the platform push rod motor is connected between the top surface of the front wheel mounting plate and the platform top surface. The front and rear sides of the bottom surface of the front and rear wheel mounting plates are respectively connected to the two front and rear wheels through the front and rear wheel push rod motors. 2. The obstacle crossing device applied to the AGV car according to claim 1, wherein the front and rear wheels are both Mecanum wheels. 3. The obstacle crossing device applied to an AGV car according to claim 1, wherein the device is powered by a DC rechargeable battery, and the battery is mounted on the platform. 4 . The obstacle crossing device applied to the AGV car according to claim 1 , wherein a patrol device is mounted on the top surface of the platform. 5 . 5. The obstacle crossing device applied to an AGV car according to claim 1, wherein the stroke of the push rod motor is selected according to the height and width of the step. 6. The obstacle crossing device applied to the AGV car according to claim 2, wherein the motor of the Mecanum wheel adopts a 36GP-555 permanent magnet planetary coding deceleration motor.

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