CN106185701A - A kind of lifting type AGV - Google Patents
A kind of lifting type AGV Download PDFInfo
- Publication number
- CN106185701A CN106185701A CN201610797927.1A CN201610797927A CN106185701A CN 106185701 A CN106185701 A CN 106185701A CN 201610797927 A CN201610797927 A CN 201610797927A CN 106185701 A CN106185701 A CN 106185701A
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- CN
- China
- Prior art keywords
- agv
- car body
- lifting type
- lifting
- type agv
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of lifting type AGV, it includes AGV car body and the lifting mechanism being located on AGV car body, and the bottom of AGV car body is provided with two driving steering wheels arranged in diagonal angle.The present invention by arranging two driving steering wheels arranged in diagonal angle in the bottom of AGV car body, when travelling forward or backward, the two drives steering wheel to provide the driving force that lifting type AGV travels, when turning to, in the case of the electric power provided is certain, the driving moment that turns to driving steering wheel to act on whole lifting type AGV arranged in diagonal angle can reach maximum, and lifting type AGV just can light, the most comprehensive turn to, it is achieved omnidirectional running.
Description
Technical field
The present invention relates to intelligent carriage apparatus field, be specifically related to a kind of lifting type AGV.
Background technology
AGV dolly, i.e. automatical pilot transportation vehicle, belong to wheeled mobile robot field, can press under the monitoring of computer
Instruction travels along the path of navigation of regulation automatically, arrives appointed place, completes a series of job task, be factory and storage
One of main equipment of material handling automatization, is particularly suited for warehousing industry, manufacturing industry, Nicotiana tabacum L., medicine and extraordinary dangerous field
Institute, it has the features such as efficient, quick, flexible, has been greatly improved production automation degree and production efficiency.To make AGV
Dolly is passage is narrow and operation in the environment of limited space, and it is necessary for the ability of omnidirectional running.In existing industry skill
In art, be usually use twin-differential drive or single wheel drive, due to twin-differential drive mode be complete inner outer deflecting roller it
Between speed difference realize turning to, can there is the inaccurate situation of control in the controller of AGV, then dolly is in the process turned to
In will produce the situation such as wheelslip, vibrations, and then easily cause the abrasion of wheel；Single wheel drive is then only to use one to drive
Driving wheel realizes the function travelling and turning to, and additionally two driven pulleys of recycling are as support, the dolly fortune of this type of drive
Dynamic performance is slightly worse, driven pulley easily deviates guide line when turning, and radius of turn is big.Lifting type AGV generally comprises a lifting machine
Structure, is used for the material receiving of material handling to a certain height, the particularly lifting type AGV of carrying large material, its lifting machine
The weight of structure is the most self-evident, thus the weight of whole lifting type AGV is also greatly increased, and under certain power conditions, depends on
Lifting type AGV is made to turn to by twin-differential driving or single wheel drive the easiest.
Summary of the invention
It is an object of the invention to provide a kind of turn to flexibly, can omnidirectional running and the lifting type AGV of stable direction.
To achieve these goals, the invention provides a kind of lifting type AGV, it includes AGV car body and is located at described AGV
Lifting mechanism on car body, the bottom of described AGV car body is provided with two driving steering wheels arranged in diagonal angle.
In above-mentioned lifting type AGV, the bottom of described AGV car body is provided with two floating brackets, and described driving steering wheel divides
It is not arranged on described floating bracket.
In above-mentioned lifting type AGV, described lifting mechanism is scissor-type lifting mechanism.
In above-mentioned lifting type AGV, described scissor-type lifting mechanism is driven by ball screw.
In above-mentioned lifting type AGV, described ball screw is provided with two, and said two ball screw passes through sync driver
It is connected with motor.
In above-mentioned lifting type AGV, four angles of the bottom of described AGV car body are respectively provided with a universal caster wheel.
In above-mentioned lifting type AGV, the bottom of described AGV car body is provided with the rfid interrogator reading ground object information.
In above-mentioned lifting type AGV, before and after the bottom of described AGV car body, it is respectively provided with a navigation reading ground magnetic stripe
Magnetic stripe.
In above-mentioned lifting type AGV, the crashproof tactile limit of the safeguard protection effect that has been formed around of described AGV car body.
In above-mentioned lifting type AGV, four angles of described AGV car body are provided with the tri coloured lantern of display running status.
Implement the lifting type AGV of the present invention, have the advantage that relative to prior art
The present invention, by arranging two driving steering wheels arranged in diagonal angle in the bottom of AGV car body, travels forward or backward
Time, the two drives steering wheel to provide the driving force that lifting type AGV travels, when turning to, in the case of the electric power provided is certain,
The driving moment that turns to driving steering wheel to act on whole lifting type AGV arranged in diagonal angle can reach maximum, and lifting type AGV is just
Can light, the most comprehensive turn to, it is achieved omnidirectional running.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of specific embodiment of the lifting type AGV of the present invention；
Fig. 2 is the bottom view of a kind of specific embodiment of the lifting type AGV of the present invention；
Fig. 3 is the structural representation of the scissor-type lifting mechanism in a kind of specific embodiment of the lifting type AGV of the present invention；
Wherein, 1, AGV car body；2, lifting mechanism；3, steering wheel is driven；4, floating bracket；5, ball screw；6, synchronize to drive
Device；7, motor；8, universal caster wheel；9, crashproof tactile limit；10, rfid interrogator；11, tri coloured lantern；12, obstacle sensor；13, loudspeaker
?；14, emergency stop switch；15, activate switch；16, touch screen；17, electric on and off switch；18, charging brush；19, steel plate；20, electricity
Pond case；21, scissor-type lift assemblies；22, pallet component.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
As shown in Figure 1 to Figure 3, the preferred embodiments of the present invention, a kind of lifting type AGV, it includes AGV car body 1 and is located at
Lifting mechanism 2 on AGV car body 1, four angles of the bottom of AGV car body 1 is respectively provided with a universal caster wheel 8, for this lifting type
AGV provides support, and this lifting type AGV can travel with any direction；The bottom of AGV car body 1 is provided with reading ground object information
Rfid interrogator 10, and before and after the bottom of AGV car body 1, be respectively provided with a navigation magnetic stripe reading ground magnetic stripe, this lifting
Formula AGV just can be walked along with ground magnetic stripe circuit；The crashproof tactile limit of the safeguard protection effect that has been formed around of AGV car body 1
9, as long as encountering object, crashproof tactile limit 9 is immediately halted lifting type AGV and reports to the police；Barrier sensing it is provided with before and after AGV car body 1
Device 12, this obstacle sensor 12 ceaselessly does 180 degree of scannings, and whether perception front exists barrier, has obstacle the most immediately to cry
Stop lifting type AGV；The rear of AGV car body 1 is provided with loudspeaker 13, real-time play music or warning, then plays during normal work
Music；Before and after AGV car body 1, side is equipped with start button 15 and emergency stop switch 14, manual operation emergency stop switch during abnormal conditions
14 operations stopping lifting type AGV；The front of AGV car body 1 is provided with touch screen 16, it is provided that exercisable man machine interface；AGV car body
Four angles of 1 are provided with the tri coloured lantern 11 of display running status, and operator can see machine in any direction intuitively
Running status；The front of AGV car body 1 is additionally provided with electric on and off switch 17；The side of AGV car body 1 is provided with charging brush 18, to provide
Online charging；The steel plate 19 being available for trampling is installed on four limits of AGV car body 1；It is provided with inside AGV car body 1 as lifting type AGV's
Run the battery case 20 that electric power is provided.
The bottom of the AGV car body 1 of the present embodiment is provided with two driving steering wheels 3 arranged in diagonal angle.Go forward or backward
When sailing, the two drives steering wheel 3 to provide the lifting type AGV driving force travelled, when turning to, in the situation that the electric power provided is certain
Under, the driving moment that turns to driving steering wheel 3 to act on whole lifting type AGV arranged in diagonal angle can reach maximum, lifting type
AGV just can light, the most comprehensive turn to, it is achieved omnidirectional running.
The bottom of the AGV car body 1 of the present embodiment is provided with two floating brackets 4, drives steering wheel 3 to be separately mounted to floating
On frame 4.Floating bracket 4 can regulate the adhesive force driving steering wheel 3 with ground, makes driving steering wheel 3 keep contacting with ground always,
And protection can also be played and drive the effect of steering wheel 3, extend the service life driving steering wheel 3.
The lifting mechanism 2 of the present embodiment is this scissor-type lifting mechanism, and it includes scissor-type lift assemblies 21 and cuts with being located at
Pallet component 22 in V shape lift assemblies 21, this scissor-type lifting mechanism is driven by ball screw 5, and ball screw 5 level sets
Put the lower section in scissor-type lift assemblies 21, make scissor-type lift assemblies 21 intersect by the rotary motion of ball screw 5
The angle of support increase or reduce so that the raising and lowering of pallet component 22, this structure has that rising or falling speed is fast, lifting
Precision accurately and can the feature that stops of optional position, and convenience safe and efficient, easy to maintenance.Certainly, this scissor-type lifting machine
Structure also can be by Driven by Hydraulic Cylinder.
The ball screw 5 of the present embodiment is provided with two, and the two ball screw 5 is by sync driver 6 with motor 7 even
Connecing, 7 power of motor export sync driver 6, on sync driver 6 synchronism output power to two ball screw 5, and two
Ball screw 5 simultaneously drives rising or falling of scissor-type lifting mechanism, so that lifting type AGV carries during material the most steady
Property.
Below it is only the preferred embodiment of the present invention, it is noted that those skilled in the art are come
Saying, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and replacement, these improve and replace also should
It is considered as protection scope of the present invention.
Claims (10)
1. a lifting type AGV, it is characterised in that include AGV car body and the lifting mechanism being located on described AGV car body, described
The bottom of AGV car body is provided with two driving steering wheels arranged in diagonal angle.
Lifting type AGV the most according to claim 1, it is characterised in that the bottom of described AGV car body is provided with two floatings
Support, described driving steering wheel is separately mounted on described floating bracket.
Lifting type AGV the most according to claim 1, it is characterised in that described lifting mechanism is scissor-type lifting mechanism.
Lifting type AGV the most according to claim 4, it is characterised in that described scissor-type lifting mechanism is driven by ball screw
Dynamic.
Lifting type AGV the most according to claim 5, it is characterised in that described ball screw is provided with two, said two is rolled
Ballscrew is connected with motor by sync driver.
Lifting type AGV the most according to claim 1, it is characterised in that respectively set on four angles of the bottom of described AGV car body
There is a universal caster wheel.
Lifting type AGV the most according to claim 1, it is characterised in that the bottom of described AGV car body is provided with ground, reading ground
The rfid interrogator of mark information.
Lifting type AGV the most according to claim 1, it is characterised in that be respectively provided with one before and after the bottom of described AGV car body
The navigation magnetic stripe of individual reading ground magnetic stripe.
Lifting type AGV the most according to claim 1, it is characterised in that described AGV car body be formed around safeguard protection
The crashproof tactile limit of effect.
Lifting type AGV the most according to claim 1, it is characterised in that four angles of described AGV car body are provided with display
The tri coloured lantern of running status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797927.1A CN106185701A (en) | 2016-08-31 | 2016-08-31 | A kind of lifting type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610797927.1A CN106185701A (en) | 2016-08-31 | 2016-08-31 | A kind of lifting type AGV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106185701A true CN106185701A (en) | 2016-12-07 |
Family
ID=58085825
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610797927.1A Pending CN106185701A (en) | 2016-08-31 | 2016-08-31 | A kind of lifting type AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106185701A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672850A (en) * | 2017-02-08 | 2017-05-17 | 泰州市畅通管业有限公司 | Lifting table for lifting hollow winding pipe |
| CN106740730A (en) * | 2016-12-26 | 2017-05-31 | 芜湖哈特机器人产业技术研究院有限公司 | AGV with enhanced feature drives |
| CN106956694A (en) * | 2017-05-05 | 2017-07-18 | 宁波领智机械科技有限公司 | Use for laboratory automatic main unit is more changed trains |
| CN107985946A (en) * | 2017-12-27 | 2018-05-04 | 湖北迪迈威智能装备有限公司 | A kind of double lifting AGV trolleies |
| CN108184394A (en) * | 2018-01-24 | 2018-06-22 | 河北农业大学 | A kind of hole tray ordering machine |
| CN108414063A (en) * | 2018-01-19 | 2018-08-17 | 南京理工大学 | A kind of AGV intelligent dispensings trolley |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108658011A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Rotary and telescopic pallet fork and AGV trolleies |
| CN108658005A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Full-automatic AGV trolleies |
| CN109305252A (en) * | 2018-11-09 | 2019-02-05 | 芯球（上海）智能科技有限责任公司 | Omnidirectional drives parking robot |
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
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| CN105676850A (en) * | 2016-04-13 | 2016-06-15 | 广州市远能物流自动化设备科技有限公司 | Steering wheel type automatic guided transport vehicle |
| CN205485616U (en) * | 2015-12-31 | 2016-08-17 | 厦门思尔特机器人系统股份公司 | Heavy load lifts formula AGV dolly |
| CN206188308U (en) * | 2016-08-31 | 2017-05-24 | 广州市远能物流自动化设备科技有限公司 | Formula AGV lifts |
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| CN203438872U (en) * | 2013-06-26 | 2014-02-19 | 广州市远能物流自动化设备科技有限公司 | Online charging structure of unmanned carrying vehicle |
| CN103895695A (en) * | 2014-03-24 | 2014-07-02 | 广州市远能物流自动化设备科技有限公司 | Helm driving device |
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| CN205485616U (en) * | 2015-12-31 | 2016-08-17 | 厦门思尔特机器人系统股份公司 | Heavy load lifts formula AGV dolly |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106740730B (en) * | 2016-12-26 | 2018-11-09 | 芜湖哈特机器人产业技术研究院有限公司 | AGV drivings with enhanced feature |
| CN106740730A (en) * | 2016-12-26 | 2017-05-31 | 芜湖哈特机器人产业技术研究院有限公司 | AGV with enhanced feature drives |
| CN106672850A (en) * | 2017-02-08 | 2017-05-17 | 泰州市畅通管业有限公司 | Lifting table for lifting hollow winding pipe |
| CN106956694A (en) * | 2017-05-05 | 2017-07-18 | 宁波领智机械科技有限公司 | Use for laboratory automatic main unit is more changed trains |
| CN107985946A (en) * | 2017-12-27 | 2018-05-04 | 湖北迪迈威智能装备有限公司 | A kind of double lifting AGV trolleies |
| CN107985946B (en) * | 2017-12-27 | 2023-12-15 | 湖北迪迈威智能装备有限公司 | Double-lifting AGV trolley |
| CN108414063A (en) * | 2018-01-19 | 2018-08-17 | 南京理工大学 | A kind of AGV intelligent dispensings trolley |
| CN108184394A (en) * | 2018-01-24 | 2018-06-22 | 河北农业大学 | A kind of hole tray ordering machine |
| CN108184394B (en) * | 2018-01-24 | 2024-03-01 | 河北农业大学 | Plug placing machine |
| CN108505798A (en) * | 2018-05-30 | 2018-09-07 | 北京石油化工学院 | A kind of six trains heavy duty can automatic charging intelligent parking robot |
| CN108658011A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Rotary and telescopic pallet fork and AGV trolleies |
| CN108658005A (en) * | 2018-06-05 | 2018-10-16 | 广州市远能物流自动化设备科技有限公司 | Full-automatic AGV trolleies |
| CN109305252A (en) * | 2018-11-09 | 2019-02-05 | 芯球（上海）智能科技有限责任公司 | Omnidirectional drives parking robot |
| CN109765905A (en) * | 2019-03-01 | 2019-05-17 | 航天通用技术(北京)有限公司 | A kind of omnidirectional's intelligent three-dimensional carrying control system |
| CN109765905B (en) * | 2019-03-01 | 2022-03-29 | 航天通用技术(北京)有限公司 | Omnidirectional intelligent three-dimensional carrying control system |
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Application publication date: 20161207 |