CN102673676B - Many train heavy duty mobile robot AGV - Google Patents
Many train heavy duty mobile robot AGV Download PDFInfo
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- CN102673676B CN102673676B CN201210107633.3A CN201210107633A CN102673676B CN 102673676 B CN102673676 B CN 102673676B CN 201210107633 A CN201210107633 A CN 201210107633A CN 102673676 B CN102673676 B CN 102673676B
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Abstract
A kind of many train heavy duty mobile robot AGV, comprise vehicle frame, wheel, electrical controller, floating spring structure-steel framing, actuating device and steering hardware, electrical controller is electrically connected with actuating device and steering hardware, wheel is divided into drive wheel and support wheel, and drive wheel is coaxially connected with actuating device, is longitudinally connected with steering hardware level, floating spring structure-steel framing is arranged between wheel and vehicle frame, be connected with wheel set support, wheel is arranged on wheel set support, plays buffering and all carries effect.The present invention adopts many trains, full floating, the chassis structure driven more, adds the commonality that drive wheel uses, reduce the scantling of structure of drive wheel, reduce productive costs, and vehicle stability is good, meet the operating needs of heavy duty and multiple road.
Description
Technical field
The invention belongs to Intelligent logistics carrying, transport vehicles technical field, relate generally to a kind of improvement of many train heavy duty mobile robot AGV vehicles.
Background technology
AGV car is just brought into use at developed country six the seventies, and the field application such as present Factory Logistics automation, automated assembly line are quite extensive.China also starts to have the market demand gradually after the nineties, and is progressively developed faster.Particularly recent years, due to the minimizing of labour power and increasing of cost, the demand of AGV has had obvious increase, and the work that particularly heavily loaded AGV completes manually can not accomplish or be difficult to accomplish, therefore the demand of heavily loaded AGV exists the larger market space.The technology of AGV was mainly for underloading demand in the past, general load all less than 3 tons, and AGV car wheel is all 4 or 3, was wherein with 1 buffering wheel or did not have buffering wheel.The kinds of processes requirement of vehicle maintenance maintenance, is difficult to adapt to the restriction of all kinds of work-yard to operating needs.
Existing AGV chassis wheel is " three-wheel " or " four-wheel ", 3 determine a plane, because ground is uneven, if wheel is " four-wheel ", at least take turns by one and possess the function that fluctuates, the four-wheel on guarantee chassis can with earth surface, especially ensure that drive wheel and earth surface are even more important, the walking power of guarantee drive wheel.This chassis train technology can meet operating needs for underloading AGV (less than 10 tons), and for heavy duty (especially more than 30 tons) AGV, three-wheel or four-wheel technology have just had following significantly shortcoming.
1. few owing to taking turns, each wheel load is large, requires high to the requirement taken turns and ground;
2., because wheel bears load greatly, wheel footpath needs to strengthen, and causes chassis of vehicle body to increase, uses inconvenience, and stability reduces, and material increases car body and increases the weight of, cost up;
3. few owing to taking turns, wheelspan (wheelbase) strengthens, and in order to keep the rigidity of car body, the section bar of car body composition strengthens, and cause car body heavy, power increase, effect reduces, and adds manufacturing cost and operating cost.The present invention is directed to the deficiency described in above-mentioned background technology to improve, high, the large load of a kind of degree of freedom is provided and the many trains heavy duty mobile robot AGV of different size workpiece can be adapted to.
Summary of the invention
Many train heavy duty mobile robot AGV of the present invention, comprise vehicle frame, wheel system, electrical controller, floating spring structure-steel framing, it is characterized in that: wheel system comprises and is arranged on drive wheel on wheel set support and support wheel, actuating device, steering hardware and floating spring structure-steel framing, actuating device and steering hardware are electrically connected with electrical controller, floating spring structure-steel framing is arranged between wheel system and vehicle frame, floating spring structure-steel framing is made up of upper leaf spring and lower leaf spring, upper and lower leaf spring both ends are bolted, upper leaf spring is connected with vehicle frame by bolt, lower leaf spring is connected with rebound by bolt, rebound is connected with wheel set support.
Further, the floating spring structure-steel framing of described many trains heavy duty mobile robot AGV can horizontal cross be connected in series N number of by connecting panel, also can vertically longitudinally connect N number of by bolt, N >=1.Arrange subplate spring respectively outside the middle part of upper and lower leaf spring, subplate spring can be that a width or several superpositions are fixedly connected with.
The actuating device of described many train heavy duty mobile robot AGV is drive motor.Steering hardware comprises horizontal rotation supporting, steer motor, turns to miniature gears, fixes big gear wheel, support, rotary encoder and corner miniature gears, drive wheel is rack-mount, coaxially install with drive motor, horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is provided with fixing big gear wheel; The lower surface of inner ring is connected with support, the output shaft of steer motor is provided with engage with fixing big gear wheel turn to miniature gears; Fixing big gear wheel side is engaged with corner miniature gears, and corner miniature gears is arranged in rotary encoder rotating shaft, and rotary encoder is connected with support.
Further, the wheel count > 4 of many train heavy duty mobile robot AGV of the present invention, drive wheel quantity > 2, wherein drive wheel be divided into band steering hardware and not rotary support to two kinds, support wheel is cardan wheel, and bolt also can be connecting pin.
The present invention is directed to the deficiency described in above-mentioned background technology to improve, adopt many wheel train structures of more than four-wheel, reduce the carrying of single-wheel, in many trains, have drive wheel and support wheel (Unpowered wheel) respectively.The concrete structure of floating spring structure-steel framing wherein, drive wheel and support wheel is made all to have the function that fluctuates, reduce the requirement of AGV car to wheel and ground, also adopt many drive wheels (more than 2, can reach 16) to drive simultaneously, thus reduce the power of each drive wheel, the drive wheel being used for underloading AGV can be used for heavily loaded AGV, add the commonality that drive wheel uses, reduce the scantling of structure of drive wheel, reduce AGV bassinet structure size, reduce productive costs.
Accompanying drawing explanation
Fig. 1 many train heavy duties mobile robot AGV car birds-eye view
Fig. 2 many train heavy duties mobile robot AGV chassis constructional drawing
The constructional drawing of Fig. 3 floating spring structure-steel framing
Fig. 4 many train heavy duties mobile robot AGV car driving device structure figure
Fig. 5 many train heavy duties mobile robot AGV car steering hardware constructional drawing
Wherein: 1 vehicle frame 2 drive wheel 3 support wheel 4 floating spring structure-steel framing 5 electrical controller 6 assembly bracket 7 rebound 8 actuating device 9 steering hardware
Leaf spring 42 times leaf spring 43 subplate spring 44 connecting panel 45 bolts on 41
81 drive motor
90 horizontal rotations support 91 steer motor 92 and turn to miniature gears 93 to fix big gear wheel 94 rotary encoder 95 corner miniature gears 96 support
Detailed description of the invention
The present invention implements in the following way: heavily loaded AGV bassinet structure as illustrated in fig. 1 and 2, have between vehicle frame 1 and each wheel and floating spring structure-steel framing 4 is installed, wheel is divided into drive wheel and support wheel, the driving of drive wheel and turning to, is realized by electrical controller 5 accessory drive and steering hardware, comprises speed sync synchronous with direction, support wheel is cardan wheel, unpowered, only rise and support and equilibrium activity, following walking; Drive wheel 2 and the support wheel 3 of varying number can be dropped into according to dead-weight capacity.Actuating device drives AGV garage to walk, drive wheel can be with steering hardware, also can not be with, and is with the drive wheel turned to be called " steering wheel ", only need 1 steering wheel just can realize the walking of car body and turn to, more than 2 steering wheels (comprise 2) and just can realize the craspedodrome of car body, walk crosswise and diagonal; If do not adopt steering wheel and adopt the drive wheel not with turning to, at least to there be 2 drive wheels, realize the walking of car body by 2 drive wheel differential motions and turn to.The rarest 4 of the wheel count of many train heavy duty mobile robot AGV cars, different according to carrying tonnage.
Many trains heavy duty mobile robot AGV of the present invention can meet the operating needs of multiple dead-weight capacity, for 30 tonnages, 4 5Kw can be adopted to carry 5 tons of drive wheels, the support cardan wheel of 4 carryings 6 tons.
Floating spring structure-steel framing structure as shown in Figure 3: floating spring structure-steel framing is made up of upper leaf spring 41 and lower leaf spring 42 floating spring structure-steel framing, upper and lower leaf spring both ends are bolted, upper and lower leaf spring is made to become one, upper leaf spring is connected with vehicle frame 1 by bolt 45, lower leaf spring is connected with rebound 7 by bolt, rebound is connected with wheel set support 6, and wheel is arranged on wheel set support.Upper and lower leaf spring both ends, through being fixed by bolt 45 or connecting pin, are referred to as singly to organize leaf spring, are the elementary cells of composition damping, buffering system.When vehicle frame bears load, floating spring structure-steel framing plays buffering and all carries effect.In order to adapt to pressure and the torsion of different operating mode, by two ends connecting panel 44, two groups of leaf springs can be transversely linked, single group leaf spring is by bolt 44 and connecting panel 45 lateral connection, and connecting panel strengthens the globality of two groups of leaf springs further, strengthens the bearing capacity of floating spring structure-steel framing.In order to increase deformability, increase the torsion of AGV vehicle, also can by bolt 44 or connecting pin will or two groups of leaf springs longitudinally couple together, further, can also according to the needs of operating mode, three pairs or many secondary single group leaf springs are passed through connecting panel 45 horizontal cross serial connection, also vertically longitudinally can be serially connected in by bolt.Upper and lower leaf spring is resiliency deformable member, and plate spring sheet is processed into arc or half elliptic structure, is made up of spring steel, and through corresponding Technology for Heating Processing, is system important composition part.Subplate spring 43 can be 1 pair, also can be fixedly connected with, depending on stressing conditions by 2,3 pairs or many secondary superpositions.
The drive motor 81 of the actuating device of many train heavy duty mobile robot AGV is connected with driving wheel hub 82, controls car speed; The steering hardware of many train heavy duty mobile robot AGV comprises horizontal rotation supporting 90, steer motor 91, turns to little tooth 92 to take turns, fixes big gear wheel 93, support 96, rotary encoder 94 and corner miniature gears 95, horizontal rotation supporting has relatively turnable inner ring and outer ring, and the upper end face of outer ring is provided with fixing big gear wheel; The lower surface of inner ring is connected with support 96, and drive wheel is rack-mount, coaxially installs with drive motor 81, the output shaft of steer motor 91 is provided with engage with fixing big gear wheel turn to miniature gears; Fixing big gear wheel 93 side is engaged with corner miniature gears 95, and corner miniature gears 95 is arranged in rotary encoder rotating shaft, and rotary encoder 94 is connected with support 96.Be called steering wheel with the wheel turning to and drive simultaneously, send predetermined angle order-driven steer motor 91 by vehicle control syetem to work, miniature gears 92 is turned to rotate around fixing big gear wheel 93, make 96 turns, support at a certain angle, coder record also feeds back steering wheel institute gyration, when the angle that coder obtains reaches consistent with control system predetermined angle, drive wheel direction is locked, vehicle control syetem according to real work set angle, realize heavily loaded mobile robot craspedodrome, the Eight characters, walk crosswise, diagonal, the action such as translation and cast.
The present invention adopts many trains, full floating, the chassis structure driven more, by electrical controller, many wheel train structures are controlled automatically, and all wheels are all with the floating spring structure-steel framing of pooling feature, thus add the commonality of drive wheel use, reduce the scantling of structure of drive wheel, reduce productive costs, and vehicle stability is good, meet the design of the operating needs floating spring structure-steel framing of heavy duty and multiple road, play the effect overcoming the uneven wheel load inequality in ground and carry; Thus achieve many trains, full floating, the Intelligent logistics carrying driven and conveying more, particularly meet heavily loaded AGV vehicle to wheel load, many-sided high request such as ground, multiple drive wheel and support wheel are arranged on bottom of frame, multiple drive wheel turns to by electrical controller control synchronization, comprise speed sync synchronous with direction, support wheel is cardan wheel, following walking.
Although illustrate and describe embodiments of the invention, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments without departing from the principles and spirit of the present invention, scope of the present invention is by claims and equivalency thereof.
Claims (6)
1. the heavy duty of train more than kind mobile robot AGV, comprise vehicle frame (1), wheel system, electrical controller (5), wherein wheel system comprises and is arranged on drive wheel (2) on wheel set support (6) and support wheel (3), actuating device (8), steering hardware (9), actuating device and steering hardware are electrically connected with electrical controller (5), it is characterized in that: also comprise floating spring structure-steel framing (4), floating spring structure-steel framing (4) is arranged between wheel system and vehicle frame (1), floating spring structure-steel framing is made up of upper leaf spring (41) and lower leaf spring (42), upper and lower leaf spring both ends are fixed by bolt (44), upper leaf spring is connected with vehicle frame (1) by bolt, lower leaf spring is connected with rebound (7) by bolt, rebound is connected with wheel set support (6), floating spring structure-steel framing (4) horizontal cross is connected in series N number of by connecting panel (45), or vertically longitudinally pass through bolt (44) and connect N number of, N >=1, steering hardware comprises horizontal rotation supporting (90), steer motor (91), turn to miniature gears (92), fixing big gear wheel (93), support (96), rotary encoder (94) and corner miniature gears (95), drive wheel (2) is arranged on support (96), coaxially install with drive motor (81), horizontal rotation supporting has relatively turnable inner ring and outer ring, the upper end face of outer ring is provided with fixing big gear wheel (93), the lower surface of inner ring is connected with support (96), the output shaft of steer motor (91) is provided with engage with fixing big gear wheel turn to miniature gears (92), fixing big gear wheel (93) side is engaged with corner miniature gears (95), corner miniature gears (95) is arranged in rotary encoder (94) rotating shaft, rotary encoder (94) is connected with support (96), electrical controller (5) sends predetermined angle order-driven steer motor (91) work, miniature gears (92) is turned to rotate around fixing big gear wheel (93), support (96) is turned at a certain angle, coder record also feeds back steering wheel institute gyration, when the angle that coder obtains reaches consistent with electrical controller (5) predetermined angle, drive wheel direction is locked.
2. many train heavy duty mobile robot AGV according to claim 1, is characterized in that: arrange subplate spring (43) respectively outside the middle part of upper and lower leaf spring, subplate spring is that a width or several superpositions are fixedly connected with.
3. many train heavy duty mobile robot AGV according to claim 1 and 2, is characterized in that: actuating device is drive motor (81).
4. many train heavy duty mobile robot AGV according to claim 1, is characterized in that: drive wheel is divided into band steering hardware and is not with steering hardware two kinds.
5. many train heavy duty mobile robot AGV according to claim 1, is characterized in that: support wheel is cardan wheel.
6. many train heavy duty mobile robot AGV according to claim 1, is characterized in that: replace bolt with connecting pin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210107633.3A CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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| CN201210107633.3A CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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| CN102673676A CN102673676A (en) | 2012-09-19 |
| CN102673676B true CN102673676B (en) | 2015-11-25 |
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| CN201210107633.3A Expired - Fee Related CN102673676B (en) | 2012-04-13 | 2012-04-13 | Many train heavy duty mobile robot AGV |
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