CN102662398A - Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same - Google Patents
Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same Download PDFInfo
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- CN102662398A CN102662398A CN2012101324634A CN201210132463A CN102662398A CN 102662398 A CN102662398 A CN 102662398A CN 2012101324634 A CN2012101324634 A CN 2012101324634A CN 201210132463 A CN201210132463 A CN 201210132463A CN 102662398 A CN102662398 A CN 102662398A
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Abstract
The invention relates to a three-state hoisting mechanism and an AGV (Automatic Guided Vehicle) transporting vehicle provided with the same. The three-state hoisting mechanism is composed of a hydraulic device, a hoisting supporting frame and follower wheels, wherein the hydraulic device is mounted below a supporting face of the hoisting supporting frame; a plurality of the follower wheels are mounted below supporting legs of the hoisting supporting frame; the AGV transporting vehicle comprises an AGV vehicle body, the three-state hoisting mechanism and a universal movement mechanism; the universal movement mechanism is mounted on the lower surface of the AGV vehicle body; the three-state hoisting mechanism is mounted on the upper surface of the AGV vehicle body; a cargo bracket is arranged on the periphery of the three-state hoisting mechanism; and an AGV transportation function can be realized by supporting the cargo bracket through the three-state hoisting mechanism or separating the three-state hoisting mechanism from the cargo bracket, so as to solve the problem that the AGV transporting vehicle is not easy to drag and maintain after the AGV transporting vehicle has a fault, and solve straight-line movement, in-situ radius rotary movement and vehicle body rapid steering problems at any direction except front and back directions.
Description
Technical field
The invention belongs to AGV transport vehicle field, especially a kind of ternary elevating mechanism and have the AGV transport vehicle of ternary elevating mechanism.
Background technology
The AGV transport vehicle be a kind of be power with the battery, the unmanned automated handling vehicle of noncontact guide piece and independent addressing system is housed.It has dolly programming, parking selecting arrangement, safeguard protection and various transfer function, and can under the monitoring of computing machine, go by instruction autonomous driving, automatic guide path along regulation, arrives the appointed place, accomplishes a series of job tasks.
Existing AGV transport vehicle has following characteristics: 1, wheel is by motor-driven, and motor is accepted instruction through wireless network, and drive wheels is gone along the guide path of regulation, arrives the appointed place, accomplishes a series of job tasks.2, the pressurized tank jacking apparatus has only two states, contraction state and jack-up car state.3, wheel has only a kind of working method, promptly relies on intelligent signal drive wheels running fully, when signal is normal, under the wireless network communication normal condition, wheel just can drive vehicle operating.Though existing AGV transport vehicle can be accomplished task unmanned and the automated handling vehicle; But the problem of its existence is: when the AGV transport vehicle in the ground running process, in case unpredictalbe other factors occurs; When for example outage, network failure, the system failure; Automatically controlled commander because the AGV transport vehicle places one's entire reliance upon under the network environment, stuck state will appear in wheel, and car body and wheel original place together are locked; Can't its original place be dragged and overhaul, it dragged away and must use equipment such as crane.
Simultaneously, existing AGV transport vehicle is owing to the restriction of its body construction, and can't separating by no means, rectilinear motion, the original place radius of any direction of fore-and-aft direction rotatablely move, car body fast steering problem.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; A kind of ternary elevating mechanism is provided and has the AGV transport vehicle of ternary elevating mechanism; Solved the problem that being difficult for after the AGV transport vehicle breaks down drags and keep in repair, and the rectilinear motion, the original place radius that have solved any direction of non-fore-and-aft direction rotatablely move, car body fast steering problem.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of ternary elevating mechanism is made up of hydraulic means, lifting support frame and supporting roller, and hydraulic means is installed in the supporting surface below of lifting support frame, and a plurality of supporting rollers are installed in the supporting leg below of lifting support frame.
And described hydraulic means quantity is one, and this hydraulic means is installed in the supporting surface bottom center position of lifting support frame.
And described hydraulic means quantity is a plurality of, and a plurality of hydraulic means are uniformly distributed with the supporting surface below that is installed in lifting support frame.
And; Described hydraulic means comprises fuel tank and pressurized tank; On the pressurized tank sidewall, be provided with main valve and the reverse flow valve of pressing, the main valve of pressing is connected with fuel tank through connecting line with reverse flow valve, on fuel tank, is provided with solenoid valve and is used to control the main switch of valve and reverse flow valve and the flow direction of switching liquid of pressing; In pressurized tank, be axially installed with hydraulic column; The upper end of this hydraulic column is equipped with a piston, and this piston is divided into main hydraulic fluid tagma and phegma tagma with pressurized tank, and the lower end of hydraulic column passes and seals through O-ring seal from the bottom of pressurized tank.
And, also be provided with hand valve on the described fuel tank and be used to control the main switch of valve and reverse flow valve and the flow direction of switching liquid of pressing.
And the lower end of described hydraulic column is shaped on and is used for the screw thread installed mutually with the AGV car body.
A kind of AGV transport vehicle with ternary elevating mechanism; Comprise AGV car body, ternary elevating mechanism and universal movement mechanism; Universal movement mechanism is installed in the lower surface of AGV car body; Ternary elevating mechanism is installed in the upper surface of AGV car, is provided with a goods bracket in the periphery of ternary elevating mechanism, separates through ternary elevating mechanism picking-up goods bracket or with goods bracket and realizes the AGV transportation function.
And described universal movement mechanism is one or more.
And; Described universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels; The lower end of rotating shaft is vertically mounted on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are installed in the upper surface of support chassis, and two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor; And be installed in respectively in the wheel groove that support chassis is provided with through two pairs of wheel bearings; One end of two motors all is equipped with code-disc, and the other end of two motors is connected with separately gear train respectively, and two cover drive mechanisms link together with separately wheel respectively; The rotating shaft upper end is sleeved in the shaft bearing, and this shaft bearing is installed together through car body terminal pad and car body, in the top of rotating shaft one code-disc is installed.
And described gear train comprises speed reduction unit and transmission gear, and speed reduction unit is connected the output terminal of motor, and the output terminal and the transmission gear of speed reduction unit mesh together, and transmission gear is installed together through pair of wheels bearing and wheel.
Advantage of the present invention and good effect are:
1, the present invention installs ternary elevating mechanism on the AGV car body; Make the supporting roller of wheel and ternary elevating mechanism of universal movement mechanism land respectively and bear the ground supports point respectively; Realize jack-up goods bracket realization transportation function through positive pressure in the control hydraulic means and buffer brake, simultaneously, can the AGV car body be separated with goods bracket through ternary elevating mechanism; Make the AGV car body become suspended state and supporting roller is in the state of landing from the state of landing; Thereby be convenient to the maintenance personal AGV transport vehicle is dragged and keeps in repair through supporting roller pulling, solved the AGV car body and broken down after wheel is stuck, be not easy to the problem that drags and keep in repair.
2, the present invention applies reverse aux. pressure simultaneously through the forward principal pressure in the control hydraulic means; Perhaps apply the method that reverse principal pressure applies the forward aux. pressure simultaneously; Be convenient to the slowly decline of goods and slowly rise, thus the safe operation when guaranteeing that fault takes place.
3, the present invention installs universal movement mechanism under the AGV car body; The AGV car body be can drive and any direction rectilinear motion and any direction curvilinear motion done; And the method motionless through vehicle body, that wheel turns; Zero radius of turn problem when fundamentally having solved the AGV haulage vehicle and making the non-any direction rectilinear motion that seesaws has solved center displacement problem and Vehicular turn speed issue when the AGV transport vehicle is done original place radius rotation.
Description of drawings
Fig. 1 is the structural representation of ternary elevating mechanism of the present invention;
Fig. 2 is the hydraulic device structure synoptic diagram of ternary elevating mechanism;
Fig. 3 is the AGV transport vehicle structural representation with ternary elevating mechanism of the present invention
Fig. 4-the 1st, universal movement mechanism structure figure;
Fig. 4-the 2nd, the synoptic diagram that is connected of universal movement mechanism and AGV car body;
Fig. 5-the 1st, the view that wheel of the present invention lands;
Fig. 5-the 2nd, the view that supporting roller of the present invention suspends;
Fig. 6-the 1st, goods bracket of the present invention are about to by the view of jack-up;
Fig. 6-the 2nd, goods bracket of the present invention is by the view of jack-up;
Fig. 7-the 1st starts hand valve and prepares artificial decompression synoptic diagram when fault is handled;
Fig. 7-the 2nd, forward flowed out reverse pressurization and makes goods bracket land synoptic diagram when fault was handled;
Fig. 7-the 3rd, forward flowed out oppositely to pressurize and makes goods bracket separate synoptic diagram with car body when fault was handled;
Fig. 7-the 4th, forward flowed out reverse pressurization and makes supporting roller land synoptic diagram when fault was handled;
Fig. 7-the 5th, forward flowed out oppositely to pressurize and makes wheel suspension synoptic diagram when fault was handled;
Among the figure, 1: hydraulic means, 1-1: main valve, the 1-2: main hydraulic fluid tagma, 1-3: reverse flow valve of pressing; 1-4: piston, 1-5: hand valve, 1-6: solenoid valve, 1-7: O-ring seal, 1-8: hydraulic column; 1-9: phegma tagma, 1-10: pipeline, 1-11: fuel tank, 1-12: pressurized tank, 1-13: screw thread; 2: lifting support frame, 3: supporting roller, 4:AGV car body, 5: goods bracket; 6: universal movement mechanism, 6-1: wheel bearing, 6-2: wheel, 6-3: transmission gear; 6-4,6-6: code-disc, 6-5: motor, 6-7: rotating shaft, 6-8: one-level speed reduction unit; 6-9: two stage reducer, 6-10: support chassis, 6-11,12: shaft bearing, 6-13: car body terminal pad.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is done further detailed description:
A kind of ternary elevating mechanism, as shown in Figure 1, constitute by hydraulic means, lifting support frame and supporting roller; The quantity of hydraulic means is one or more; When hydraulic means was one, the top of hydraulic means was installed in the supporting surface bottom center position of lifting support frame, when hydraulic means when being a plurality of; The top of hydraulic means is uniformly distributed with the supporting surface below that is installed in lifting support frame, and a plurality of supporting rollers are installed in the supporting leg below of lifting support frame.As shown in Figure 2; Hydraulic means comprises fuel tank and pressurized tank; On the pressurized tank sidewall, be provided with main valve and the reverse flow valve of pressing, on fuel tank, be provided with solenoid valve and hand valve, the main valve of pressing is connected with fuel tank through connecting line with reverse flow valve; Solenoid valve and hand valve are connected in parallel on main the pressure on valve and the reverse flow valve; Through the main flow direction of pressing the switch of valve and reverse flow valve and switching liquid of electronic or manual mode control, both can make liquid go into and flow out from reverse flow valve from the main valve flow of pressing, also can make liquid flow into and go out from main pressure valve flow from reverse flow valve; In pressurized tank, be axially installed with hydraulic column; The upper end of this hydraulic column is equipped with a piston; This piston is divided into main hydraulic fluid tagma and phegma tagma with pressurized tank; The lower end of hydraulic column passes and seals through O-ring seal from the bottom of pressurized tank, is shaped on screw thread in the lower end of hydraulic column and is used for the installation with the AGV car body.
Ternary elevating mechanism can be installed in and constitute the AGV transport vehicle with ternary elevating mechanism on the AGV car body.As shown in Figure 3; A kind of AGV transport vehicle with ternary elevating mechanism is made up of AGV car body, ternary elevating mechanism and universal movement mechanism; Ternary elevating mechanism is installed on the upper surface of AGV car body, and its mounting means is that screw thread and the AGV car body bottom hydraulic column is installed together; Universal movement mechanism can be for one or more; When using a universal movement mechanism; Universal movement mechanism is installed in the middle position of the lower surface of AGV car body; When a plurality of universal movement of use mechanism, universal movement mechanism is uniformly distributed with the lower surface that is installed in the AGV car body, and universal movement mechanism can drive the AGV car body and do any direction rectilinear motion and any direction curvilinear motion.This AGV transport vehicle needs in use and goods bracket is used; This goods bracket is arranged on the outside of ternary elevating mechanism, when ternary elevating mechanism rises, and the lifting support frame jack-up goods bracket that makes progress; When ternary elevating mechanism descended, goods bracket separated with lifting support frame.
Shown in Fig. 4-1 and Fig. 4-2; Universal movement mechanism is by support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels; The lower end of rotating shaft is vertically mounted on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are installed in the upper surface of support chassis; Two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft, two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor, two wheels are installed in the wheel groove that support chassis is provided with through two pairs of wheel bearings respectively; One end of two motors all is equipped with code-disc; The other end of two motors is connected with separately gear train respectively, and two cover drive mechanisms link together with separately wheel respectively, and two wheels are respectively in separately the motor and the driving rotation down of gear train thereof.Every sets of transmission mechanism includes one-level speed reduction unit, two stage reducer and transmission gear; One-level speed reduction unit and two stage reducer are connected to the output terminal of motor in turn; The output terminal and the transmission gear of two stage reducer mesh together; Transmission gear and motor be vertical direction each other, and transmission gear is installed together through pair of wheels bearing and wheel, and motor is through double reduction and transmission gear interlock and further drive wheel; At this moment, wheel is passed to wheel bearing with power and is moved together through wheel bearing drive support chassis and rotating shaft.The upper end of rotating shaft is sleeved in two groups of shaft bearings, and two groups of shaft bearings are installed together through car body terminal pad and car body, in the top of rotating shaft one code-disc are installed.When support chassis was rotated, rotating shaft was rotated with support chassis, and when the rotating shaft time rotational, rotating shaft is rotated in two groups of shaft bearings, and the car body terminal pad is motionless; When rotating shaft is moved along a certain direction,, thereby realize the driven by motor body movement owing to the car body terminal pad is fixedly connected with car body.
The principle of work of universal movement mechanism is: when the AGV transport vehicle is made any assigned direction rectilinear motion; The car body attitude keeps motionless and AGV transport vehicle going direction changing, that is: make two wheels produce the original place through two wheel differential ratios and rotate, in two wheel processes; Rotating shaft, wheel bearing, wheel, support chassis are rotated together; Because rotating shaft is in shaft bearing, to rotate in the autobiography process, therefore, kept the car body terminal pad of rotating shaft upper end motionless; Again because the car body terminal pad is bound the purpose of vehicle change direction thereby realization car body attitude is motionless with car body.When the AGV transport vehicle was done the motion of any given curve, any point had a position deviation and angular deviation with respect to starting point on the curve, constantly produces position deviation and angular deviation through making car body, can realize that car body does the arbitrary curve motion.It realizes that principle is: obtain the linear velocity and the angular velocity requirement of AGV transport vehicle according to position deviation and angular deviation differentiate; With the motor is power source; Suppose it is 4 groups of mechanisms (every group of 2 motors), 8 wheels are according to the kinematic characteristics of AGV transport vehicle; Thereby letting 8 motors produce different rotating speeds constantly in difference makes the universal movement mechanism of per two wheels formation have corresponding linear velocity and angular velocity in the corresponding moment; The linear velocity of four groups of universal movement mechanisms and angular velocity synthesize the linear velocity in the space and the angular velocity of AGV transport vehicle, i.e. desired linear velocity of given curve and angular velocity, and then the AGV transport vehicle according to given curve move.
AGV transport vehicle with ternary elevating mechanism comprises following three kinds of states: first kind of state (wheel suspends and the supporting roller state that lands): with the supporting roller is the ground supports point; Wheel is a suspended state; This state can be used for fault handling, drags the AGV car through supporting roller; Second kind of state (supporting roller suspension and goods bracket be not by the jack-up state): with the wheel is the ground supports point, and supporting roller is a suspended state, and lifting support frame is the jack-up goods bracket not, and this state drives moving freely of AGV car body through universal movement mechanism; The third state (supporting roller suspension and goods bracket are by the jack-up state): with the wheel is the ground supports point; Supporting roller is a suspended state; Lifting support frame jack-up goods bracket, this state drive AGV car body, goods bracket and top goods thereof through universal movement mechanism and carry out freight handling.Being changed between its state: 1, wheel by suspended state to the state of landing, 2, goods bracket becomes by the jack-up state by the state of landing, 3, goods bracket by by jack-up to the state of landing, 4, supporting roller by suspended state to the state of landing.Wherein, preceding two is to obtain through the method for the positive force in the regulator solution pressure device greater than opposite force, and latter two is to obtain through the method for the opposite force in the regulator solution pressure device greater than positive force.Its principle of work is: 1, open the main valve of pressing through solenoid valve or hand valve liquid is pressed in the pressurized tank, the force piston moves along the direction of power, and piston drives the AGV car body through hydraulic column and moves along pressure direction; 2, under the duty,, both can make liquid go into and flow out, and also can make liquid flow into and go out from the main valve flow of pressing from reverse flow valve from reverse flow valve from the main valve flow of pressing through the flow direction of solenoid control hydraulic pressure; 3, under the malfunction, hand valve replaces solenoid valve to lead the switching of pressing between valve and the reverse flow valve.
Be elaborated in the face of the process of AGV transport vehicle down from original state to jack-up goods bracket:
As shown in Figure 3, under original state (first kind of state), wheel is in suspended state and wheel distances height overhead is 1/2h; Supporting roller and goods bracket all are in the state of landing, and goods bracket is h with the distance of lifting support frame upper surface.
Shown in Fig. 5-1, drive lifting support frame through hydraulic means and make the wheel slowly land, change to the state of landing from wheel by suspended state.Its detailed process is: 1, open main valve and the reverse flow valve of pressing through solenoid valve, main pressure valve and reverse flow valve form closed loop, control positive force (pressurization produces) well greater than opposite force (generation that refluxes), and the AGV car body is slowly landed; 2, pressure gets into pressurized tank from the main valve of pressing, and give downward power of piston (also claiming positive force) this moment, and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on the wheel the most at last, wheel is become by suspension land.Its principle is: after being under pressure, piston is pushed, and the 1/2h height that descended; Because hydraulic column connects with piston; Hydraulic column had also extended 1/2h length downwards when piston was pushed, and hydraulic column connects the AGV car body, in the time of hydraulic column elongation downwards; Also promote the AGV car body and moved down 1/2h, realize that thus wheel becomes the state of landing by suspended state.
Shown in Fig. 5-2: drive the lifting support frame rising through hydraulic means and make supporting roller become suspended state by the state of landing simultaneously, lifting support frame is changed into 1/2h with the distance of goods bracket by original h.Its detailed process is: 1, open main valve and the reverse flow valve of pressing through solenoid valve, main pressure valve and reverse flow valve form closed loop, control positive force (pressurization produces) well greater than opposite force (generation that refluxes), and object slowly rises; Step 2, pressure get into pressurized tank from the main valve of pressing, and continue to give downward power of piston (also claiming positive force), and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on the wheel the most at last.Because wheel lands this moment; The pressure that imposes on wheel is faced the reacting force of wheel with changing into; Reacting force is along the route of ground → wheel → hydraulic column → AGV car body → pressurized tank; Power passes to lifting support frame the most at last, makes supporting roller upwards hold up the 1/2h height together with support, and supporting roller becomes suspended state by the state of landing.
Shown in Fig. 6-1, drive lifting support frame through hydraulic means and continue to rise, the lifting support frame upper surface is closely contacted with the goods bracket lower surface.Its treatment step is: 1, control positive force (pressurization produces) well greater than opposite force (generation that refluxes), lifting support frame is slowly risen; 2, pressure gets into pressurized tank from the main valve of pressing; Continue to give downward power of piston (also claiming positive force), positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on the wheel the most at last; Because wheel lands this moment; The pressure that imposes on wheel in the face of the reacting force of wheel with changing into, and reacting force is along the route of ground → wheel → hydraulic column → AGV car body → pressurized tank, and power passes to lifting support frame the most at last; Make supporting roller upwards hold up the 1/2h height and press close to goods bracket together with bracing frame, goods bracket appears soon by the state of jack-up.
Shown in Fig. 6-2, drive lifting support frame through hydraulic means and continue to rise, lifting support frame is risen gradually, at last with goods bracket jack-up and built on stilts with goods bracket.Its treatment step is: 1, control positive force (pressurization produces) well greater than in opposite force (generation that refluxes), let object slowly rise; 2, pressure gets into pressurized tank from the main valve of pressing, and continues to give downward power of piston (also claiming positive force), and positive force is along the route of pipeline → pressurized tank → piston → hydraulic column → wheel, and power is applied on the wheel the most at last.Because wheel lands this moment; The pressure that imposes on wheel is faced the reacting force of wheel with changing into; Reacting force is along the route of ground → wheel → hydraulic column → AGV car body → pressurized tank; Power passes to lifting support frame the most at last, makes supporting roller together with the bracing frame jack-up goods bracket that makes progress, and lets the goods bracket built on stilts.
Can be through above-mentioned steps with goods bracket and top goods jack-up thereof, the AGV car fades to the third state by first kind of state, drives the AGV car body through universal movement mechanism and carries out freight handling.
When the AGV transport vehicle when breaking down, handle to the treatment step shown in Fig. 7-5 by Fig. 7-1, be elaborated in the face of its processing procedure down:
Shown in Fig. 7-1, start hand valve and carry out the manual work decompression.It realizes that target is: become suspended state through general who has surrendered's wheel under the hydraulic means driving lifting support frame by the state of landing, substitute wheel with supporting roller and land.Implementation step is following: 1, replace solenoid valve to lead the switching of pressing between valve and the reverse flow valve with hand valve; 2, the method that flows out with reverse pressurization and forward lets reverse flow valve become current master and presses valve, and lets the main valve of pressing become reverse flow valve.
Shown in Fig. 7-2, goods bracket is landed through reverse pressurization forward outflow mode.It realizes that target is: slowly descend through hydraulic means driving goods bracket, lifting support frame, pressurized tank, goods bracket becomes the state of landing by suspended state.Implementation step is following: 1, let liquid oppositely get into (getting into from reverse flow valve), forward flows out (going out from the main valve flow of pressing); 2, control the opposite force (reverse pressurization produce) of pressurized tank well greater than pressurized tank positive force (forward reflux produce); Because acting on gravity on the wheel this moment equals ground and gives its anchorage force; Therefore; Opposite force in the pressurized tank just promotes piston and rises along the buffer brake direction, and the AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the reduced distances of hydraulic column between pressurized tank and AGV car body; Because reduced distances; The lifting support frame, the goods bracket that cause pressurized case to support also descend along with the shortening of distance, and falling head is 1/2h, and goods bracket becomes the state of landing by original suspended state.
Shown in Fig. 7-3, goods bracket is separated with car body through reverse pressurization forward outflow mode.It realizes that target is: drive lifting support frame through hydraulic means and slowly descend, lifting support frame is 1/2h in vertical direction with the distance between the goods bracket.Performing step is following: 1, let liquid oppositely get into (getting into from reverse flow valve), forward flows out (going out from the main valve flow of pressing); 2, control the opposite force (reverse pressurization produce) of pressurized tank well greater than pressurized tank positive force (forward reflux produce); Because acting on gravity on the wheel this moment equals ground and gives its anchorage force; Therefore; Opposite force in the pressurized tank just promotes piston and rises along the buffer brake direction, and the AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the reduced distances of hydraulic column between pressurized tank and AGV car body; Because reduced distances; The lifting support frame that causes pressurized case to support also descends along with the shortening of distance; At this moment, be positioned at the lifting support frame top, drawn back distance by the goods bracket of ground supports with lifting support frame, vertical range is the 1/2h height.
Shown in Fig. 7-4, supporting roller is landed through reverse pressurization forward outflow mode.It realizes that target is: drive lifting support frame through hydraulic means and continue slowly to descend, supporting roller becomes the state of landing by the suspension state of ground.Performing step is following: 1, let liquid oppositely get into (getting into from reverse flow valve), forward flows out (going out from the main valve flow of pressing); 2, control the opposite force (reverse pressurization produce) of pressurized tank well greater than pressurized tank positive force (forward reflux produce); Because acting on gravity on the wheel this moment equals ground and gives its anchorage force; Therefore; Opposite force in the pressurized tank just promotes piston and rises along the buffer brake direction, and the AGV car body is not because the rising of hydraulic column and built on stilts; The opposite force of pressurized tank makes the reduced distances of hydraulic column between pressurized tank and AGV car body, because reduced distances, the lifting support frame that causes pressurized case to support also descends along with the shortening of distance, becomes the state of landing by suspended state.And be positioned at the lifting support frame top, drawn back distance by the goods bracket of ground supports once more with lifting support frame, vertical range is the H height.
Shown in Fig. 7-5, wheel is suspended through reverse pressurization forward outflow mode.It realizes that target is: drive lifting support frame through hydraulic means and make gravity that wheel receives less than opposite force, wheel is slowly risen, become suspended state by the state of landing.Performing step is following: 1, let liquid oppositely get into (getting into from initialized reverse flow valve), forward flows out (going out from the initialized main valve flow of pressing); 2, control the opposite force (reverse pressurization produce) of pressurized tank well greater than pressurized tank positive force (forward reflux produce), because this moment, supporting roller landed, supporting roller is under the effect of the anchorage force on ground; Bearing the gravity on the wheel; When the opposite force of pressurized tank acted on wheel, the suffered power that makes progress of wheel was greater than downward power, so; Car body can slowly be risen, and becomes suspended state by the state of landing.
Can the AGV transport vehicle be separated with goods bracket and goods thereof fully through above-mentioned steps; Just the AGV freight department becomes first kind of state from the third state; This moment, wheel suspended and the supporting roller state that lands, and therefore, the AGV transport vehicle can be dragged away easily through supporting roller and keep in repair.
It is emphasized that; Embodiment of the present invention is illustrative; Rather than it is determinate; Therefore the present invention is not limited to the embodiment described in the embodiment, and every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention belong to the scope that the present invention protects equally.
Claims (10)
1. ternary elevating mechanism is characterized in that: be made up of hydraulic means, lifting support frame and supporting roller, hydraulic means is installed in the supporting surface below of lifting support frame, and a plurality of supporting rollers are installed in the supporting leg below of lifting support frame.
2. a kind of ternary elevating mechanism according to claim 1 is characterized in that: described hydraulic means quantity is one, and this hydraulic means is installed in the supporting surface bottom center position of lifting support frame.
3. a kind of ternary elevating mechanism according to claim 1 is characterized in that: described hydraulic means quantity is a plurality of, and a plurality of hydraulic means are uniformly distributed with the supporting surface below that is installed in lifting support frame.
4. according to each described a kind of ternary elevating mechanism of claim 1 to 3; It is characterized in that: described hydraulic means comprises fuel tank and pressurized tank; On the pressurized tank sidewall, be provided with main valve and the reverse flow valve of pressing, the main valve of pressing is connected with fuel tank through connecting line with reverse flow valve, on fuel tank, is provided with solenoid valve and is used to control the main switch of valve and reverse flow valve and the flow direction of switching liquid of pressing; In pressurized tank, be axially installed with hydraulic column; The upper end of this hydraulic column is equipped with a piston, and this piston is divided into main hydraulic fluid tagma and phegma tagma with pressurized tank, and the lower end of hydraulic column passes and seals through O-ring seal from the bottom of pressurized tank.
5. a kind of ternary elevating mechanism according to claim 4 is characterized in that: also be provided with hand valve on the described fuel tank and be used to control the main switch of valve and reverse flow valve and the flow direction of switching liquid of pressing.
6. a kind of ternary elevating mechanism according to claim 4 is characterized in that: the lower end of described hydraulic column is shaped on and is used for the screw thread installed mutually with the AGV car body.
7. AGV transport vehicle with each described ternary elevating mechanism of claim 1 to 6; It is characterized in that: comprise AGV car body, ternary elevating mechanism and universal movement mechanism; Universal movement mechanism is installed in the lower surface of AGV car body; Ternary elevating mechanism is installed in the upper surface of AGV car, is provided with a goods bracket in the periphery of ternary elevating mechanism, separates through ternary elevating mechanism picking-up goods bracket or with goods bracket and realizes the AGV transportation function.
8. a kind of AGV transport vehicle with ternary elevating mechanism according to claim 7 is characterized in that: described universal movement mechanism is one or more.
9. according to claim 7 or 8 described a kind of AGV transport vehicles with ternary elevating mechanism; It is characterized in that: described universal movement mechanism comprises support chassis, rotating shaft, two motors, two sets of transmission mechanism, two pairs of wheel bearings and two wheels; The lower end of rotating shaft is vertically mounted on the center of support chassis; Two motors, two sets of transmission mechanism, two pairs of wheel bearing symmetries are installed in the upper surface of support chassis; Two motors are positioned at the rotating shaft both sides perpendicular to the plane of rotating shaft; Two wheels lay respectively at perpendicular in the plane of rotating shaft with the vertical each other other both sides of rotating shaft of motor, and be installed in respectively in the wheel groove that support chassis is provided with through two pairs of wheel bearings, an end of two motors all is equipped with code-disc; The other end of two motors is connected with separately gear train respectively, and two cover drive mechanisms link together with separately wheel respectively; The rotating shaft upper end is sleeved in the shaft bearing, and this shaft bearing is installed together through car body terminal pad and car body, in the top of rotating shaft one code-disc is installed.
10. a kind of AGV transport vehicle according to claim 9 with ternary elevating mechanism; It is characterized in that: described gear train comprises speed reduction unit and transmission gear; Speed reduction unit is connected the output terminal of motor; The output terminal and the transmission gear of speed reduction unit mesh together, and transmission gear is installed together through pair of wheels bearing and wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210132463.4A CN102662398B (en) | 2012-04-28 | 2012-04-28 | Three-state hoisting mechanism and AGV (Automatic Guided Vehicle) transporting vehicle provided with same |
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| CN103407517A (en) * | 2013-08-16 | 2013-11-27 | 成都四威高科技产业园有限公司 | Automatic guided vehicle (AGV) chassis travelling mechanism |
| CN104950886A (en) * | 2015-06-15 | 2015-09-30 | 合肥工业大学 | Working platform for intelligently maintaining AGV (Automatic Guided Vehicle) |
| CN106276105A (en) * | 2016-08-31 | 2017-01-04 | 无锡锡南铸造机械股份有限公司 | A kind of RGV intelligence is across rail car |
| CN108725297A (en) * | 2018-07-10 | 2018-11-02 | 大连壹海科技有限公司 | Heavily loaded logistics system flexible transport vehicle |
| CN109358631A (en) * | 2018-11-27 | 2019-02-19 | 上海海事大学 | A kind of intelligent object conveying robot |
| CN109933076A (en) * | 2019-04-22 | 2019-06-25 | 贵州翰凯斯智能技术有限公司 | One kind being based on unpiloted mobile multifunctional vehicle system and application method |
| CN113104769A (en) * | 2021-05-12 | 2021-07-13 | 陈维加 | AGV lifting device |
| CN113511265A (en) * | 2020-03-27 | 2021-10-19 | 丰田自动车株式会社 | Information processing apparatus, information processing method, and information processing system |
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| CN104950886A (en) * | 2015-06-15 | 2015-09-30 | 合肥工业大学 | Working platform for intelligently maintaining AGV (Automatic Guided Vehicle) |
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| CN106276105A (en) * | 2016-08-31 | 2017-01-04 | 无锡锡南铸造机械股份有限公司 | A kind of RGV intelligence is across rail car |
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| CN108725297B (en) * | 2018-07-10 | 2023-09-05 | 大连壹海科技有限公司 | Trackless transport vehicle for heavy-load logistics system |
| CN109358631A (en) * | 2018-11-27 | 2019-02-19 | 上海海事大学 | A kind of intelligent object conveying robot |
| CN109933076A (en) * | 2019-04-22 | 2019-06-25 | 贵州翰凯斯智能技术有限公司 | One kind being based on unpiloted mobile multifunctional vehicle system and application method |
| CN113511265A (en) * | 2020-03-27 | 2021-10-19 | 丰田自动车株式会社 | Information processing apparatus, information processing method, and information processing system |
| CN113104769A (en) * | 2021-05-12 | 2021-07-13 | 陈维加 | AGV lifting device |
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Effective date of registration: 20160112 Address after: 518000 Guangdong province Shenzhen City Xili Nanshan District University City sangtai building block A room 503 Patentee after: SHENZHEN PUZHI LIANKE ROBOT TECHNOLOGY CO., LTD. Address before: 214135 Jiangsu Province, Wuxi City District Zhenze Wuxi Road No. 18 (National) whale Software Park A District 4 floor Patentee before: Wuxi Puzhilianke High-tech Co., Ltd. |