CN204237151U - A kind of leading screw lifting device and adopt the logistics carrier of this device - Google Patents
A kind of leading screw lifting device and adopt the logistics carrier of this device Download PDFInfo
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Abstract
Description
技术领域technical field
本实用新型涉及物流技术的物流搬运车(AGV，Automated GuidedVehicle)技术领域，尤其涉及采用丝杠举升装置的物流搬运车。The utility model relates to the technical field of a logistics carrier (AGV, Automated Guided Vehicle) of logistics technology, in particular to a logistics carrier using a lead screw lifting device.
背景技术Background technique
现有的物流搬运车(AGV，Automated Guided Vehicle)主要运用在制造车间和重型机械中搬运作业，体积大，承载量大，主要分为承载型、牵引型和自动叉车型，便于和各种工业机械设备配合在数控加工中心作业，实现对物流的一体化控制。然而在物流配送中心中，对于物流搬运车的效率要求高、体积要求小。特别是仓储与分拣过程，更需要体积小，效率高的物流搬运车对物流输送单元进行输送，所以潜入式的物流搬运车在物流配送中心的需求将越来越大。Existing logistics vehicles (AGV, Automated Guided Vehicle) are mainly used in manufacturing workshops and heavy machinery for handling operations. They are large in size and have a large load capacity. The mechanical equipment cooperates with the CNC machining center to realize the integrated control of logistics. However, in the logistics distribution center, the efficiency requirements for the logistics truck are high and the volume requirements are small. Especially in the process of warehousing and sorting, it is more necessary to transport logistics delivery units with small volume and high efficiency logistics vehicles. Therefore, the demand for submerged logistics vehicles in logistics distribution centers will increase.
现有技术的物流搬运车主要存在如下问题：1、效率低。现有的物流搬运车无法实现多机器人协同运作，这样就必须借助附加设备来完成，多次的交互造成效率下降；2、空间浪费。由于目前物流搬运车承载大，相应的体积也非常大，因此非存储空间加大，物流中心空间利用率降低；3、成本高。系统无法完全实现货到人，需配备其他设备，使得投资大大增加；系统价格成本高，没有自主知识产权核心技术；4、使用不灵活，柔性差。现有物流搬运车主要运用在制造业的搬运，只适合简单的路径运行，对复杂路径系统无法适应。综上所述原因，在一定程度上限制了其应用。There are mainly following problems in the logistics transport vehicle of prior art: 1, efficiency is low. Existing logistics vehicles cannot realize multi-robot collaborative operation, so it must be completed with the help of additional equipment, and multiple interactions result in a decrease in efficiency; 2. Waste of space. Due to the large load of the current logistics truck, the corresponding volume is also very large, so the non-storage space is increased, and the utilization rate of the logistics center space is reduced; 3. The cost is high. The system cannot fully realize the delivery of goods to people, and needs to be equipped with other equipment, which greatly increases the investment; the system price is high, and there is no core technology with independent intellectual property rights; 4. The use is not flexible and the flexibility is poor. Existing logistics trucks are mainly used in the handling of the manufacturing industry, which are only suitable for simple path operation and cannot adapt to complex path systems. In summary, the above reasons limit its application to a certain extent.
发明内容Contents of the invention
本实用新型旨在提供一种丝杠举升装置及采用该装置的物流搬运车，以解决现有技术的缺陷，并以较低成本提高物流配送中心拣选和存取作业效率，能够通过狭窄的空间，灵活转向，适合在物流配送中心应用。The utility model aims to provide a lead screw lifting device and a logistics transport vehicle using the device to solve the defects of the prior art, and improve the efficiency of picking and accessing operations in the logistics distribution center at a lower cost, and can pass through narrow Space, flexible steering, suitable for application in logistics distribution centers.
为了解决上述技术问题，本实用新型实施例提供了一种丝杠举升装置及采用该装置的物流搬运车，其中所述丝杠举升装置包括：举升电机、驱动同步带、丝杠导筒和举升丝杠；所述举升电机通过所述驱动同步带与设置于所述丝杠导筒内的所述举升丝杠相连，用于提供驱动所述举升丝杠举升的动力，完成举升动作。In order to solve the above-mentioned technical problems, the embodiment of the utility model provides a screw lifting device and a logistics truck using the device, wherein the screw lifting device includes: a lifting motor, a driving synchronous belt, a screw guide The cylinder and the lifting screw; the lifting motor is connected with the lifting screw arranged in the screw guide cylinder through the driving synchronous belt, and is used to provide the driving force for lifting the lifting screw. Power to complete the lifting action.
为了解决上述技术问题，本实用新型实施例还提供了一种采用丝杠举升装置的物流搬运车，包括：物流搬运车本体、丝杠举升装置、回转系统、驱动转向系统、定位导航与控制系统、供电系统，其中：所述丝杠举升装置设置于所述物流搬运车本体的车架上，包括举升电机、驱动同步带、丝杠导筒和举升丝杠；所述举升电机通过所述驱动同步带与设置于所述丝杠导筒内的所述举升丝杠相连，用于提供驱动所述举升丝杠举升的动力，完成举升动作；所述回转系统设置于所述物流搬运车本体上，与所述丝杠举升装置相连，使当物流搬运车发生转动时而举升物体相对地面不动，以避免举升物体随着物流搬运车转动发生碰撞；所述驱动转向系统设置于所述物流搬运车本体的底部，采用差速转向的方式控制物流搬运车的转向和直线行驶；所述定位导航与控制系统，分别与所述丝杠举升装置、所述回转系统和所述驱动转向系统相连，用于控制所述物流搬运车按照预定的路径行走，并且同时确保所述物流搬运车准确定位；所述供电系统，分别与所述丝杠举升装置、所述回转系统、所述驱动转向系统、所述定位导航与控制系统相连，用于提供工作电力；所述物流搬运车本体为潜入式结构，所述凸轮举升装置、回转系统、驱动转向系统、定位导航与控制系统及供电系统均设置在所述物流搬运车本体上。In order to solve the above technical problems, the embodiment of the utility model also provides a logistics transport vehicle using a screw lifting device, including: a logistics transport vehicle body, a screw lifting device, a slewing system, a drive steering system, positioning navigation and Control system and power supply system, wherein: the screw lifting device is arranged on the frame of the logistics truck body, including a lifting motor, a drive timing belt, a screw guide cylinder and a lifting screw; The lifting motor is connected with the lifting screw arranged in the screw guide cylinder through the driving synchronous belt, and is used to provide power to drive the lifting screw to lift to complete the lifting action; the rotation The system is set on the main body of the logistics truck and connected with the screw lifting device, so that when the logistics truck rotates, the lifted object will not move relative to the ground, so as to avoid the collision of the lifted object with the rotation of the logistics truck The drive steering system is arranged at the bottom of the logistics truck body, and uses differential steering to control the steering and straight-line driving of the logistics truck; the positioning navigation and control system is respectively connected with the screw lifting device . The slewing system is connected with the driving steering system, and is used to control the logistics vehicle to walk along a predetermined path, and at the same time ensure the accurate positioning of the logistics vehicle; the power supply system is connected with the lead screw respectively The lifting device, the slewing system, the driving steering system, and the positioning navigation are connected with the control system to provide working power; the logistics truck body is a submerged structure, and the cam lifting device, slewing system, The driving and steering system, the positioning navigation and control system and the power supply system are all arranged on the logistics transport vehicle body.
在一优选实施例中，所述回转系统包括回转电机、回转齿轮和回转托盘；所述回转电机通过所述回转齿轮带动所述回转托盘转动，带动所述回转托盘上放置的举升物体产生回转运动，以使当所述物流搬运车转向时，确保举升物体相对于地面静止。In a preferred embodiment, the slewing system includes a slewing motor, a slewing gear, and a slewing tray; the slewing motor drives the slewing tray to rotate through the slewing gear, and drives the lifting objects placed on the slewing tray to rotate. movement to ensure that the lifted object remains stationary relative to the ground when the logistics truck is turning.
在一优选实施例中，所述回转托盘周围还设置有至少两个直线导轨，以确保所述回转托盘举升时候做直线运动。In a preferred embodiment, at least two linear guide rails are arranged around the rotary tray to ensure the linear motion of the rotary tray when it is lifted.
在一优选实施例中，所述驱动转向系统包括：编码器、悬架系统、驱动电机及驱动轮和支撑轮；所述驱动系统通过所述驱动电机驱动安装在所述物流搬运车本体中间的所述驱动轮，从而带动所述万向轮，使所述物流搬运车完成直线行驶及旋转动作；所述悬架系统用于保证驱动持续有效；所述编码器控制用于控制所述物流搬运车的差速转向。In a preferred embodiment, the driving steering system includes: an encoder, a suspension system, a driving motor, a driving wheel and a supporting wheel; The drive wheel drives the universal wheel, so that the logistics vehicle completes straight-line driving and rotation; the suspension system is used to ensure continuous and effective driving; the encoder control is used to control the logistics handling vehicle Differential steering of the car.
在一优选实施例中，所述驱动转向系统采用前后支撑轮为四个万向轮，中间两轮为驱动轮的六轮结构，所述万向轮随着所述驱动轮的转向完成转弯的运动，从而实现差速转向的驱动转向方式。In a preferred embodiment, the drive steering system adopts a six-wheel structure in which the front and rear support wheels are four universal wheels, and the middle two wheels are driving wheels. The universal wheels complete the turning motion with the steering of the driving wheels , so as to realize the drive steering mode of differential steering.
在一优选实施例中，所述定位导航与控制系统包括惯性导航单元与图像识别装置，设置于所述物流搬运车本体下方的中心前方位置，用于识别地面图像标志及惯性导航信息融合后，对物流搬运车进行定位与控制导航。In a preferred embodiment, the positioning navigation and control system includes an inertial navigation unit and an image recognition device, which are arranged at the center front position under the body of the logistics truck, and are used to identify ground image marks and integrate inertial navigation information. Carry out positioning and control navigation on logistics trucks.
在一优选实施例中，所述定位导航与控制系统还包括：测量装置，用于测量举升物体相对于地面空间的运动参数，以确保所述回转系统的所述回转电机回转的角度，然后在给定的初始条件下推算出导航参数，引导所述物流搬运车到达目的地。In a preferred embodiment, the positioning navigation and control system further includes: a measuring device for measuring the motion parameters of the lifting object relative to the ground space, so as to ensure the rotation angle of the slewing motor of the slewing system, and then Calculate the navigation parameters under the given initial conditions, and guide the logistics vehicle to reach the destination.
在一优选实施例中，所述定位导航与控制系统还包括：无线路由器，用于接收无线局域网的控制信号，从而实现通过无线局域网控制多台物流搬运车进行协同工作。In a preferred embodiment, the positioning, navigation and control system further includes: a wireless router, configured to receive a control signal of a wireless local area network, so as to realize the cooperative work of controlling multiple logistic vehicles through the wireless local area network.
在一优选实施例中，所述采用丝杠举升装置的物流搬运车还包括：多个防碰撞传感器，设置于所述物流搬运车本体四周，用于避免所述物流搬运车与周围设备发生碰撞。In a preferred embodiment, the logistics vehicle using the lead screw lifting device further includes: a plurality of anti-collision sensors arranged around the body of the logistics vehicle to avoid collisions between the logistics vehicle and surrounding equipment. collision.
本实用新型上述技术方案的采用丝杠举升装置的物流搬运车具有如下有益效果：提高物流配送中心拣选效率，其成本低；使用灵活，极具柔性；所述物流搬运车体积小，对物流中心面积占有小，提高了物流中心的利用率。The logistics transport vehicle adopting the screw lifting device of the above-mentioned technical solution of the utility model has the following beneficial effects: the logistics distribution center can improve the picking efficiency, and its cost is low; it can be used flexibly and extremely flexible; the logistics transport vehicle is small in size, The center occupies a small area, which improves the utilization rate of the logistics center.
附图说明Description of drawings
为了更清楚地说明本实用新型实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为本实用新型实施例一种丝杠举升装置的结构示意图；Fig. 1 is a schematic structural view of a screw lifting device according to an embodiment of the present invention;
图2为本实用新型实施例一种采用丝杠举升装置的物流搬运车结构示意框图；Fig. 2 is a schematic block diagram of the structure of a logistics transport vehicle using a screw lifting device according to an embodiment of the present invention;
图3为本实用新型应用实例一种采用丝杠举升装置的物流搬运车的结构示意图。Fig. 3 is a structural schematic diagram of a logistics transport vehicle using a screw lifting device as an application example of the present utility model.
具体实施方式Detailed ways
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.
如图1所示，图1为本实用新型实施例一种丝杠举升装置的结构示意图，其中所述丝杠举升装置包括：举升电机27、驱动同步带28、丝杠导筒23和举升丝杠22；所述举升电机27通过所述驱动同步带28与设置于所述丝杠导筒23内的所述举升丝杠22相连，用于提供驱动所述举升丝杠22举升的动力，完成举升动作。As shown in Figure 1, Figure 1 is a structural schematic diagram of a screw lifting device according to an embodiment of the present invention, wherein the screw lifting device includes: a lifting motor 27, a drive timing belt 28, and a screw guide cylinder 23 and the lifting lead screw 22; the lift motor 27 is connected with the lift lead screw 22 arranged in the lead screw guide cylinder 23 through the drive synchronous belt 28, for providing driving of the lift screw The power of bar 22 lifting completes the lifting action.
再请参阅图2和图3，图2为本实用新型实施例一种采用丝杠举升装置的物流搬运车结构框图，图3为本实用新型应用实例一种采用丝杠举升装置的物流搬运车的结构示意图，如图所示，该采用丝杠举升装置的物流搬运车包括：物流搬运车本体11、丝杠举升装置13、回转系统12、驱动转向系统16、定位导航与控制系统14、供电系统15。Please refer to Fig. 2 and Fig. 3 again. Fig. 2 is a structural block diagram of a logistics transport vehicle using a lead screw lifting device according to an embodiment of the present utility model. Schematic diagram of the structure of the truck, as shown in the figure, the logistics truck using the screw lifting device includes: the logistics truck body 11, the screw lifting device 13, the slewing system 12, the driving steering system 16, positioning navigation and control System 14, power supply system 15.
在本实用新型的一优选实施例中，物流搬运车本体11为潜入式结构；丝杠举升装置13，位于物流搬运车本体11的上部，用于对举升物体(在本实施例中主要是指物流单元)进行举升；回转系统12，位于物流搬运车的上部，用于改变举升物体输送的方向。In a preferred embodiment of the present utility model, the logistics truck body 11 is a submerged structure; the lead screw lifting device 13 is located on the upper part of the logistics truck body 11, and is used for lifting objects (in this embodiment, mainly Refers to the logistics unit) for lifting; the slewing system 12 is located on the upper part of the logistics transport vehicle, and is used to change the direction of lifting objects to be transported.
在本实用新型的一优选实施例中，回转系统12包括：回转电机29(带制动)、回转齿轮31和回转托盘30；所述丝杠举升装置物流搬运车转向时，为避免出现在狭窄空间被举升的物流单元不随着所述物流搬运车本体转动与其他物体发生碰撞现象，所述回转电机29(带制动)通过所述回转齿轮31带动所述回转托盘30，使物流单元回转，其原理是利用相对运动确保物流单元相对地面静止。In a preferred embodiment of the present utility model, the slewing system 12 includes: a slewing motor 29 (with brake), a slewing gear 31 and a slewing tray 30; The logistics unit lifted in a narrow space does not collide with other objects as the logistics truck body rotates. The rotary motor 29 (with brake) drives the rotary tray 30 through the rotary gear 31, so that the logistics unit The principle of slewing is to use relative motion to ensure that the logistics unit is still relative to the ground.
在实际工作中，还可以在所述回转托盘30周围设置有至少两个直线导轨20，以确保所述回转托盘30举升时候做直线运动。In actual work, at least two linear guide rails 20 may be arranged around the rotary tray 30 to ensure that the rotary tray 30 moves linearly when lifted.
驱动转向系统16位于物流搬运车本体11的底部，采用差速转向的驱动转向方式进行驱动和转向；定位导航与控制系统14与所述丝杠举升装置13、回转系统12和驱动转向系统16相连，用于对所述采用丝杠举升装置的物流搬运车进行驱动和控制；供电系统15分别与丝杠举升装置13、回转系统12、驱动转向系统16、定位导航与控制系统14相连，用于对上述各个系统提供工作用电。The driving steering system 16 is located at the bottom of the logistics vehicle body 11, and adopts the driving and steering mode of differential steering for driving and steering; the positioning navigation and control system 14 is connected with the screw lifting device 13, the slewing system 12 and the driving steering system 16 Connected, used to drive and control the logistics truck using the screw lifting device; the power supply system 15 is connected to the screw lifting device 13, the slewing system 12, the driving steering system 16, the positioning navigation and control system 14 respectively , used to provide working power for each of the above systems.
在本实用新型的一优选实施例中，驱动转向系统16包括：编码器、悬挂系统24、驱动电机及驱动轮25和支撑轮26；所述驱动系统通过所述驱动电机驱动安装在中间的驱动轮，完成直线、旋转动作。悬架系统保证驱动持续有效。根据所述编码器控制所述丝杠举升装置物流搬运车的差速转向。通过所述编码器控制所述丝杠举升装置物流搬运车的差速转向。In a preferred embodiment of the present utility model, the driving steering system 16 includes: an encoder, a suspension system 24, a driving motor, a driving wheel 25 and a supporting wheel 26; The wheel can complete the straight line and rotation action. The suspension system guarantees continuous and efficient driving. The differential steering of the logistics transport vehicle of the screw lifting device is controlled according to the encoder. The differential steering of the logistics transport vehicle of the lead screw lifting device is controlled by the encoder.
在本实用新型的一优选实施例中，驱动转向系统16，采用前后支撑轮为四个万向轮，中间两轮为驱动轮的六轮结构，所述万向轮跟随着所述驱动轮的转向而转动，从而实现差速转向的驱动转向。In a preferred embodiment of the present utility model, the driving steering system 16 adopts a six-wheel structure in which the front and rear supporting wheels are four universal wheels, and the middle two wheels are driving wheels, and the universal wheels follow the steering of the driving wheels. And rotate, thereby realize the driving steering of differential steering.
在本实用新型的一优选实施例中，定位导航与控制系统14包括：惯性导航单元与图像识别装置，安装于所述物流搬运车本体下方的中心前方位置，用于识别地面图像标志及惯性导航信息融合后，对物流搬运车进行定位与控制导航。In a preferred embodiment of the present utility model, the positioning navigation and control system 14 includes: an inertial navigation unit and an image recognition device, which are installed at the center front position below the logistics truck body, and are used to identify ground image signs and inertial navigation After the information is fused, the logistics truck is positioned and controlled for navigation.
在本实用新型的一优选实施例中，定位导航与控制系统14还包括：测量装置，以确保所述回转电机回转的角度，并用于测量载体相对于地面空间的运动参数，然后在给定的初始条件下推算出导航参数，引导所述丝杠举升装置物流搬运车到达目的地。In a preferred embodiment of the present utility model, the positioning navigation and control system 14 also includes: a measuring device to ensure the rotation angle of the slewing motor and to measure the motion parameters of the carrier relative to the ground space, and then at a given Calculate the navigation parameters under the initial conditions, and guide the logistics transport vehicle of the lead screw lifting device to reach the destination.
在本实用新型的一优选实施例中，定位导航与控制系统14还包括：无线路由器，用于通过无线局域网控制多台丝杠举升装置物流搬运车进行协同工作。In a preferred embodiment of the present invention, the positioning navigation and control system 14 further includes: a wireless router, which is used to control a plurality of lead screw lifting device logistics trucks through a wireless local area network to perform cooperative work.
在本实用新型的一优选实施例中，供电系统15采用磷酸铁锂电池。In a preferred embodiment of the present invention, the power supply system 15 adopts a lithium iron phosphate battery.
在本实用新型的一优选实施例中，丝杠举升装置物流搬运车还包括：位于所述物流搬运车本体四周设置有多个防碰撞传感器，避免所述物流搬运车与其他物体发生碰撞。In a preferred embodiment of the present utility model, the lead screw lifting device logistics truck further includes: a plurality of anti-collision sensors are arranged around the logistics truck body to prevent the logistics truck from colliding with other objects.
上述技术方案具有如下有益效果：提高物流配送中心拣选效率本装置体积小，使用灵活，极具柔性；成本低，可以更有效利用物流配送中心面积。The above-mentioned technical solution has the following beneficial effects: improving the picking efficiency of the logistics distribution center. The device is small in size, flexible in use, and extremely flexible; low in cost, and can more effectively utilize the area of the logistics distribution center.
以下举应用实例对本实用新型实施例上述技术方案进行详细说明：The above-mentioned technical scheme of the embodiment of the present invention is described in detail by giving an application example as follows:
本实用新型应用实例是由物流搬运车本体、丝杠举升装置、回转系统、驱动转向系统、定位导航与控制系统、供电系统等六部分组成，如图3所示，图3为本实用新型应用实例一种采用丝杠举升装置的物流搬运车的结构示意图，其中，物流搬运车采用潜入式设计，可运用在物流配送中心，适合在狭窄的空间内使用，其可接受上位机的命令在物流配送中心作业。这种潜入式物流搬运物流搬运车可通过惯导和二维码控制导航实现室内定位，行驶机构为六轮机构，前后四轮为支撑轮26，中间两轮为驱动电机及驱动轮25，驱动转向方式为差速转向，可以实现多台物流搬运车协同作业，此物流搬运车主要是针对物流配送中心的出入库存取、拣选等作业设计，其运行在物流单元的底部，可以在狭窄空间的实现行走和转向，采用对物流单元举升的方式，顶部有回转托盘30，回转托盘30与转向机构相对运动，以避免物流输送单元跟随物流搬运车旋转而与其他物品发生碰撞；另在所述的物流搬运车机体四周装有防碰撞传感器，避免与其他物品发生碰撞。The application example of the utility model is composed of six parts: the logistics carrier body, the screw lifting device, the slewing system, the driving steering system, the positioning navigation and control system, and the power supply system, as shown in Figure 3, which is the utility model Application example A schematic diagram of the structure of a logistics truck using a screw lifting device. The logistics truck adopts a submerged design and can be used in a logistics distribution center. It is suitable for use in a narrow space and can accept commands from a host computer. Work in a logistics distribution center. This submerged logistics handling vehicle can realize indoor positioning through inertial navigation and two-dimensional code control navigation. The method is differential steering, which can realize the coordinated operation of multiple logistics trucks. This logistics truck is mainly designed for the logistics distribution center's in-out storage, picking, and other operations. It runs at the bottom of the logistics unit and can operate in a narrow space. To realize walking and steering, the logistics unit is lifted. There is a revolving tray 30 on the top, and the revolving tray 30 moves relative to the steering mechanism, so as to prevent the logistics delivery unit from colliding with other items as it rotates with the logistics truck; Anti-collision sensors are installed around the body of the logistics truck to avoid collisions with other items.
具体组成系统及结构详细如下：The specific composition system and structure are detailed as follows:
1.驱动转向系统1. Drive Steering System
所述驱动转向系统由编码器、悬架系统24、驱动电机及驱动轮25和支撑轮26组成。驱动转向系统通过驱动电机分别驱动安装在中间的所述驱动轮，完成直线、旋转动作。悬架系统保证驱动持续有效。通过所述编码器控制所述物流搬运车的差速转向。前后四个万向轮26，可以随着驱动电机及驱动轮25的转向实现360度转弯。Described driving steering system is made up of encoder, suspension system 24, driving motor and driving wheel 25 and supporting wheel 26. The driving steering system respectively drives the driving wheels installed in the middle through the driving motor to complete linear and rotary motions. The suspension system guarantees continuous and efficient driving. The differential steering of the material handling vehicle is controlled by the encoder. Four universal wheels 26 front and rear can realize a 360-degree turn along with the turning of the drive motor and the drive wheel 25.
2.丝杠举升装置2. Lead screw lifting device
所述丝杠举升装置包括：举升电机27、驱动同步带28、丝杠导筒23和举升丝杠22；举升丝杠22设置在丝杠导筒23中，丝杠导筒23可以引导举升丝杠22在直线上运动，并且具有保护的功能，所述举升电机27通过驱动同步带28驱动举升丝杠22完成举升动作。Described leading screw lifting device comprises: lifting motor 27, drive synchronous belt 28, leading screw guide cylinder 23 and lifting leading screw 22; Lifting leading screw 22 is arranged in leading screw guide cylinder 23, and leading screw guide cylinder 23 The lifting screw 22 can be guided to move in a straight line and has a protective function. The lifting motor 27 drives the lifting screw 22 to complete the lifting action by driving the synchronous belt 28 .
3.回转系统3. Rotary system
所述回转系统包括：回转电机29(带制动)、回转齿轮31和回转托盘30，所述采用丝杠举升装置的物流搬运车转向时，为确保狭窄空间被举升的物流单元不随着所述物流搬运车本体转动而与其他物品发生碰撞，所述回转电机29通过所述回转齿轮31带动所述回转托盘30，使物流单元回转，利用相对运动确保物流单元相对于地面静止。The slewing system includes: a slewing motor 29 (with brake), a slewing gear 31 and a slewing tray 30. When the logistics carrier using the screw lifting device is turned, the logistics unit lifted in a narrow space does not follow The main body of the logistics vehicle rotates and collides with other items. The rotary motor 29 drives the rotary tray 30 through the rotary gear 31 to rotate the logistics unit, and uses relative motion to ensure that the logistics unit is stationary relative to the ground.
4.定位导航与控制系统4. Positioning navigation and control system
所述定位导航与控制系统物流搬运车采用惯导与图像导航，在车体最下方的中心前方位置安装摄像头，其可快速识别出地面标示；所述的惯性导航技术是利用惯性测量装置测量出载体相对于惯性空间的运动参数，然后按照给定的初始条件，推算出导航参数，引导所述物流搬运车到达目的地；本系统采用的是集成惯导电路板，其具有性能稳定、体积小等优点；此外，惯导也可以实现控制回转电机回转角度的功能。所述的控制系统内部装有无线路由器，能够通过无线局域网实现控制多台小车协同工作。The positioning, navigation and control system logistics transport vehicle adopts inertial navigation and image navigation, and a camera is installed at the center front position at the bottom of the vehicle body, which can quickly identify ground markings; the inertial navigation technology uses inertial measurement devices to measure The motion parameters of the carrier relative to the inertial space, and then calculate the navigation parameters according to the given initial conditions, and guide the logistics truck to reach the destination; this system uses an integrated inertial navigation circuit board, which has stable performance and small size and other advantages; in addition, the inertial navigation can also realize the function of controlling the rotation angle of the slewing motor. The control system is equipped with a wireless router inside, and can control multiple cars to work together through a wireless local area network.
5.供电系统5. Power supply system
所述供电系统采用蓄电池为所述物流搬运车提供稳定的动能，蓄电池可采用高性能磷酸铁锂电池，其具有充电速度快、使用寿命长，重量轻、能量密度高，安全性能高等优点。The power supply system uses a battery to provide stable kinetic energy for the logistics truck. The battery can use a high-performance lithium iron phosphate battery, which has the advantages of fast charging speed, long service life, light weight, high energy density, and high safety performance.
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| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
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| CN112408264A (en) * | 2020-11-20 | 2021-02-26 | 宁夏职业技术学院（宁夏广播电视大学） | Lead screw lifting device and logistics carrying vehicle adopting same |
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| CN105253509A (en) * | 2015-10-30 | 2016-01-20 | 国网山东省电力公司烟台供电公司 | Control device used for walking positioning of multi-penetrating trolley of electrodynamometer storehouse |
| CN105621041A (en) * | 2016-02-24 | 2016-06-01 | 苏州元谋智能机器人系统有限公司 | Automatic guiding transport vehicle |
| CN105712249B (en) * | 2016-05-05 | 2018-04-06 | 北京极智嘉科技有限公司 | Intelligent carrier system using screw rod for jacking |
| CN105712253A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent transportation vehicle system with jacking function |
| CN105712249A (en) * | 2016-05-05 | 2016-06-29 | 北京极智嘉科技有限公司 | Intelligent carrier system using screw rod for jacking |
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| CN106002917A (en) * | 2016-06-13 | 2016-10-12 | 刘哲 | Electric pole type automatic warehousing robot |
| CN106425643A (en) * | 2016-08-05 | 2017-02-22 | 浙江日发航空数字装备有限责任公司 | Transfer system for aircraft part machining |
| CN107915019A (en) * | 2016-10-09 | 2018-04-17 | 浙江国自机器人技术有限公司 | A kind of method of stock article management system, transfer robot and its Transport cargo rack |
| CN108116824A (en) * | 2016-11-29 | 2018-06-05 | 科思通自动化设备（苏州）有限公司 | Store in a warehouse robot |
| CN107054964A (en) * | 2017-06-25 | 2017-08-18 | 天津市山石机器人有限责任公司 | Underbody seat jacking apparatus is carried in a kind of submersible homing guidance |
| CN107673273A (en) * | 2017-09-22 | 2018-02-09 | 上海托华机器人有限公司 | A kind of floor truck |
| CN110723234A (en) * | 2018-07-17 | 2020-01-24 | 杭州海康机器人技术有限公司 | Automatic guide transport vechicle |
| CN108773814A (en) * | 2018-08-20 | 2018-11-09 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned floor truck |
| CN108773814B (en) * | 2018-08-20 | 2024-04-19 | 广东嘉腾机器人自动化有限公司 | Lifting mechanism and unmanned carrying trolley |
| CN111099512A (en) * | 2018-10-26 | 2020-05-05 | 江苏邦威机械制造有限公司 | Combined split mounting type jack |
| CN109693917A (en) * | 2019-02-26 | 2019-04-30 | 东风汽车集团有限公司 | A kind of truck coil inserting apparatus based on integrated form RGV and can automatic offline truck the big slide plate line of automobile interior decoration |
| CN111137805A (en) * | 2020-01-16 | 2020-05-12 | 天津捷强动力装备股份有限公司 | Miniature lifting device |
| CN112408264A (en) * | 2020-11-20 | 2021-02-26 | 宁夏职业技术学院（宁夏广播电视大学） | Lead screw lifting device and logistics carrying vehicle adopting same |
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